System and method for detecting false global navigation satellite system satellite signals

ABSTRACT

Disclosed is a system and method for detecting false Global Navigation Satellite System (GNSS) satellite signals. False GNSS satellite signals can be used malevolently to take control of a body such as a vehicle or ship that is using GNSS satellite signals for navigation. In some embodiments a GNSS attitude system is used to detect the false GNSS satellite signals. The GNSS attitude system measures the code or carrier phase of the GNSS satellite signals at two or more antennas to detect the false GNSS satellite signals. In some embodiments the attitude system computes first measured and second estimated carrier phase differences in order to detect the false GNSS satellite signals. The attitude system may compute the attitude of a baseline vector between the two antennas. Once false GNSS satellite signals are detected, the method can include preventing the attitude determining system from outputting position or location data.

CROSS REFERENCE TO RELATED APPLICATION

This application is a Divisional of U.S. patent application entitled “SYSTEM AND METHOD FOR DETECTING FALSE GLOBAL NAVIGATION SATELLITE SYSTEM SATELLITE SIGNALS,” Ser. No. 16/105,729, filed Aug. 20, 2018, which is a Continuation-in-Part of the U.S. patent application entitled “SYSTEM AND METHOD FOR DETECTING FALSE GLOBAL NAVIGATION SATELLITE SYSTEM SATELLITE SIGNALS,” Ser. No. 14/061,459, filed Oct. 23, 2013,now patented as U.S. Pat. No. 10,054,687, which claims priority to U.S. Provisional Patent Application entitled “False GNSS Satellite Signal Detection System” Ser. No. 61/865,935 filed Aug. 14, 2013, the disclosures of which are hereby incorporated entirely herein by reference.

BACKGROUND OF THE INVENTION Technical Field

This invention relates generally to a Global Navigation Satellite System (GNSS), and more specifically to a system and method for detecting false GNSS satellite signals.

State of the Art

Global Navigation Satellite Systems are in widespread use to determine the location and/or attitude of a body. A GNSS includes a network of satellites that broadcast GNSS radio signals. GNSS satellite signals allow a user to determine, with a high degree of accuracy, the location of a receiving antenna, the time of signal reception and/or the attitude of a body that has a pair of receiving antennas fixed to it. Location is determined by receiving GNSS satellite signals from multiple satellites in known positions, determining the transition time for each of the signals, and solving for the position of the receiving antenna based on the known data. The location of two or more receiving antennas that have known placements relative to an object can be used to determine the attitude of the object. Examples of GNSS systems include Naystar Global Positioning System (GPS), established by the United States; Globalnaya Navigatsionnay Sputnikovaya Sistema, or Global Orbiting Navigation Satellite System (GLONASS), established by the Russian Federation and similar in concept to GPS; the BeiDou Navigation Satellite System (BDS) created by the Chinese; and Galileo, also similar to GPS but created by the European Community and slated for full operational capacity in the near future.

The GNSS is used extensively to navigate vehicles such as cars, boats, farm machinery, airplanes, and space vehicles. A problem is that ‘false’ GNSS signals can be used to ‘spoof’, or trick, a GNSS navigational system into straying off course or to provide an inaccurate time. Sophisticated GNSS spoofing systems can be used to take control of a navigational system and reroute a vehicle to an unintended location. Spoofing systems can be used for malevolent purposes - to steal, harm, reroute, or destroy important vehicles and machinery, or to allow false transactions to occur. Thus what is needed is a system to detect the presence of false GNSS satellite signals. Once the presence of false GNSS satellite signals is detected, the navigational system can be prevented from being influenced by the false GNSS satellite signals.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a depiction of a vessel that is subject to spoofing;

FIG. 2 is an example embodiment of a spoofing system for creating false GNSS satellite signals;

FIG. 3 shows a system for detecting the presence of false GNSS satellite signals according to an embodiment of the invention;

FIG. 4 illustrates a method of detecting false GNSS satellite signals according to an embodiment of the invention.

FIG. 5 illustrates two antennas and their overlapping locational margin of error;

FIG. 6 shows an attitude determining system for detecting the presence of false GNSS satellite signals according to an embodiment of the invention.

FIG. 7 shows a block diagram of an embodiment of a receiver of an attitude determining system.

FIG. 8 shows a flow chart of method 500 of detecting false GNSS satellite signals according to an embodiment of the invention.

FIG. 9 shows a flow chart of one embodiment of element 550 of method 500.

FIG. 10 shows a flow chart of one embodiment of element 554 of element 550;

FIG. 11 depicts the reception of a GNSS satellite signal by a first and a second antenna;

FIG. 12 shows range vectors extending from a satellite to a first and a second antenna, and a baseline vector extending between the first and the second antenna;

FIG. 13 shows the system of FIG. 12 with a geometry consistent with its use in a GNSS.

FIG. 14 illustrates three angles yaw, pitch and roll that can be used in attitude determination of an object;

FIG. 15 illustrates geometrically the range vectors and phase differences of three GNSS satellite signals being received by a first and a second antenna;

FIG. 16 illustrates the phase differences of a spoofing signal that includes three GNSS satellite signals as received by a first and a second antenna;

FIG. 17 generally depicts a carrier signal broadcast from a satellite to an antenna along a path in the direction of a unit vector;

FIGS. 18A and 18B generally depict a system for use in spoofing detection;

FIG. 19 generally depicts a two-antenna system in which multiple carrier phase measurements are made from signals arriving from satellites, according to an embodiment;

FIG. 20 FIG. 20 generally illustrates a situation where a vessel 100 using GNSS navigation is subjected to a spoofing attack, according to an embodiment; and,

FIG. 21 generally illustrates a situation in which GNSS spoofing is taking place, according to an embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

As discussed above, embodiments of the invention relate to a Global Navigation Satellite System (GNSS) and more specifically to a system and method for detecting false GNSS satellite signals. Some disclosed embodiments use a GNSS-based navigational system to measure the phase of a GNSS satellite signal at two or more antennas. The phase is used in some embodiments to determine if the antennas are receiving a false GNSS satellite signal. The phase of the GNSS satellite signal can be the code phase or the carrier phase of the GNSS satellite signal. In some embodiment a GNSS attitude determining system computes the carrier phase differences of a GNSS satellite signal at two or more antennas. The carrier phase difference is used in some embodiments to determine if the antennas are receiving a false GNSS satellite signal. In some embodiments the code phase difference is used to detect false GNSS satellite signals instead of the carrier phase. In some embodiments a first measured carrier phase difference is used to compute a second geometrical carrier phase difference of the GNSS satellite signal at the same antennas. The amount of agreement or error between the first measured and the second geometric computation of the carrier phase difference of the GNSS satellite signal at the two antennas is used to determine whether the system is receiving false GNSS satellite signals.

False GNSS satellite signals are GNSS satellite signals which contain incorrect data. Incorrect data mean the data in the signal does not correctly identify the satellite it came from, or the transit time from the satellite to the antenna, or it has other false or misleading data included in the false GNSS satellite signal, which will result in incorrect range, location, timing or attitude calculations. A false GNSS satellite signal with incorrect data can be used to mislead a GNSS navigational system and/or a GNSS timing system.

False GNSS satellite signals need not originate from any GNSS and need not originate from any earth-orbiting satellite. False GNSS satellite signals include those signals that are simulated—in other words they do not ever originate from a GNSS satellite, although they are formed to simulate a GNSS satellite signal and, ultimately, be accepted by a receiving antenna as a real GNSS signal. False GNSS satellite signals also include those signals that originate from a GNSS satellite, but they are ignorantly or maliciously received and re-broadcast such that they can no longer be used to measure an antenna location or provide an accurate timing signal. In a general sense, false GNSS signals include any signal which contains invalid satellite data, but is of a form that will be accepted by a GNSS antenna and receiver and, without intervention, will be used by the GNSS receiver to perform a (false) location or attitude computation. The disclosed embodiments of the invention describe a system and method for detecting false GNSS satellite signals so that intervention can occur, preventing the navigational system from providing false location or navigational data.

A GNSS includes a network of satellites that broadcast GNSS radio signals, enabling a user to determine the location of a receiving antenna with a high degree of accuracy. A GNSS can also be used to determine the attitude of an object, by determining the position of two or more receiving antennas that have known placements relative to the object.

Currently the longest running of the available GNSS, GPS, was developed by the United States government and has a constellation of 24 satellites in 6 orbital planes at an altitude of approximately 26,500 km. The first satellite was launched in February 1978. Initial Operational Capability (IOC) for the GPS was declared in December 1993. Each satellite continuously transmits microwave L-band radio signals in two frequency bands, L1 (1575.42 MHz) and L2 (1227.6 MHz). The L1 and L2 signals are phase shifted, or modulated, by one or more binary codes. These binary codes provide timing patterns relative to the satellite's onboard precision clock (synchronized to other satellites and to a ground reference through a ground-based control segment), in addition to a navigation message giving the precise orbital position of each satellite, clock correction information, and other system parameters.

GNSS navigation or attitude systems use measurements of the GNSS satellite signal phase—either code phase or carrier phase—in order to perform their computations. The binary codes providing the timing information are called the C/A Code, or coarse acquisition code, and the P-code, or precise code. The C/A Code is a 1 MHz Pseudo Random Noise (PRN) code modulating the phase of the L1 signal, and repeating every 1023 bits (one millisecond). The P-Code is also a PRN code, but modulates the phase of both the L1 and L2 signals, and is a 10 MHz code repeating every seven days. These PRN codes are known patterns that can be compared to internal versions in the receiver. The GNSS receiver is able to compute an unambiguous range to each satellite by determining the time-shift necessary to align the internal code phase to the broadcast code phase. Since both the C/A Code and the P-Code have a relatively long “wavelength”—approximately 300 meters (or 1 microsecond) for the C/A Code, and 30 meters (or 1/10 microsecond) for the P-Code, positions computed using them have a relatively coarse level of resolution. The code phase measurements are used in some embodiments of the invention to detect false GNSS satellite signals.

To improve the positional accuracy provided by use of the C/A Code and the P-Code, a receiver may take advantage of the carrier component of the L1 or L2 signal. The term “carrier”, as used herein, refers to the dominant spectral component remaining in the radio signal after the spectral content resulting from the modulating PRN digital codes has been removed (e.g., from the C/A Code and the P-Code). The L1 and L2 carrier signals have wavelengths of about 19 centimeters and 24 centimeters, respectively. The GPS receiver is able to track these carrier signals and measure the carrier phase φ to a small fraction of a complete wavelength, permitting range measurement to an accuracy of less than a centimeter. These carrier phase φ measurements are used by embodiments of the invention described herein to detect false GNSS satellite signals.

FIG. 1 depicts a situation where vessel 100 using GNSS navigation is subjected to spoofing—or in other words is receiving false GNSS satellite signals. Vessel 100 receives real GNSS satellite signals 106, 107, and 108 from a plurality of GNSS satellites 103, 104 and 105, respectively. GNSS satellite signals 106, 107 and 108 are received by antenna 101 which is located at physical location A. GNSS receiver 121, which is electrically connected to antenna 101, receives signals 106, 107, and 108, and computes the GNSS location coordinates of location A based on measurements of ranging information contained within signals 106, 107 and 108. Vessel 100 in this embodiment has an autopilot system that steers vessel 100 over a prescribed course using the computed GNSS coordinates of location A. It is to be understood that while antenna 101 is shown receiving GNSS satellite signals 106, 107, and 108 from three GNSS satellites 103, 104, and 105, antenna 101 can be receiving GNSS satellite signals from any number of GNSS satellites. Antenna 101 receives GNSS satellite signals from a plurality of GNSS satellites, where a plurality is any number greater than one.

Antenna 101 in the embodiment shown in FIG. 1 is also receiving spoofing signal 142 from spoofing system 140 (also shown in FIG. 2). Spoofing signal 142 is a composite signal which contains a plurality of false GNSS satellite signals. Spoofing signal 142 is generated so as to mimic real GNSS satellite signals. Spoofing system 140 transmits spoofing signal 142 through cable 139 to transmitter 141. Transmitter 141 broadcasts spoofing signal 142 to antenna 101.

GNSS signal spoofing system 140 can be designed to create false GNSS satellite signals in many ways. In some embodiments spoofing system 140 creates spoofing signal 142 by simulating real GNSS satellite signals programmed with the desired false satellite data. FIG. 2 is an example embodiment of spoofing system 140 of FIG. 1, which in this embodiment captures real GNSS signals 116, 117, and 118 at antenna 111, and then rebroadcasts these signals with transmitter 141. In the embodiment shown in FIG. 1 and FIG. 2, spoofing system 140 creates spoofing signal 142 by re-broadcasting live GNSS signals received at a location different from the GNSS navigational system that is to be spoofed. It is to be understood that spoofing system 140 can create and broadcast spoofing signal 142 using any method that creates a spoofing signal 142 that includes data meant to be accepted as real GNSS signals.

In the embodiment shown in FIG. 1 through FIG. 2 spoofing system 140 includes spoof antenna 111, and transmitter 141. Spoofing system 140 generates spoofing signal 142 by re-broadcasting GNSS satellite signals 116, 117 and 118 received at spoof antenna 111 from live GNSS satellites 113, 114 and 115. Satellites 113, 114, and 115, can be the same or different GNSS satellites as satellites 103, 104, and 105. Spoof antenna 111 is located at spoof location D. In this embodiment spoof location D is offset from vessel location A by vectors 133 and 134, creating a total locational offset shown by vector 135. Real GNSS satellite signals 116, 117, and 118 are combined into composite spoofing signal 142 and rebroadcast by transmitter 141. Note that spoofing signal 142 is a composite of a plurality of GNSS satellite signals 116, 117, and 118, as received by antenna 111. When GNSS satellite signals 116, 117, and 118 are rebroadcast from transmitter 141, they become false GNSS satellite signals because they contain data as received by antenna 111 at location D. Spoofing signal 142 in this embodiment contains three false GNSS satellite signals, but it is to be understood that spoofing signal 142 can contain any number of false GNSS satellite signals.

The power level of spoofing signal 142 is set such that when spoofing signal 142 is received by antenna 101, spoofing signal 142 overpowers real GNSS satellite signals 106, 107 and 108. Consequently receiver 121 uses spoofing signal 142 to compute a GNSS location based on false GNSS satellite signals 116, 117, and 118. Specifically, receiver 121 will measure the GNSS satellite signal phase (code phase and/or carrier phase) φ values of false GNSS satellite signals 116, 117, and 118, will use the code phase and/or the carrier phase φ values to compute GNSS location coordinates for location D, and will report that vessel 100 is at location D instead of its true location A. This false location D will be offset from true location A by vectors 133 and 134, for a total positional error given by vector 135. The navigational system of vessel 100 will believe it is at location D and plot its course accordingly. This is the intent of spoofing system140 in some embodiments,—to make receiver 121 believe, and report, that vessel 100 is at false location D that is offset relative to the known or assumed location A of the GNSS system to be spoofed. Spoofing of a navigational system can also be performed in order to make a navigational device provide false timing data. GNSS devices are often used in critical timing applications. Thus in some embodiments detection of false GNSS satellite signals is performed to prevent a spoofing system from causing false timing data to be provided by a GNSS device.

Note that any transmission delay of spoofing signal 142 along cable 139 or due to being rebroadcast is seen as a common clock delay on all GNSS spoofing signals, and this delay is solved for as part of the receiver 121 computations. The delay causes a small, often undetectable receiver clock offset, but computation of the false GNSS location still takes place.

Described herein is a system and method for detecting the presence of false GNSS satellite signals such as spoofing signal 142, where spoofing signal 142 comprises false data that represents itself as one or more than one GNSS satellite signal from one or more than one GNSS satellite. The system and method for detecting false GNSS satellite signals according to embodiments of the invention uses a plurality of GNSS antennas for determining that at least one of the GNSS satellite signals received is a false GNSS satellite signal, in other words it contains false data. The system disclosed herein for detecting false GNSS satellite signals is in some embodiments a GNSS attitude system. GNSS attitude systems use two or more GNSS antennas attached to a rigid body for determining the attitude of the body.

FIG. 3 shows an embodiment of system 190 for detecting false GNSS satellite signals. In the embodiment shown in FIG. 3, vessel 100 of FIG. 1 includes system 190 for detecting false GNSS satellite signals. In the embodiment of the invention shown in FIG. 3, system 190 has two GNSS antennas, first antenna 101 and second antenna 122. Both first antenna 101 and second antenna 122 are receiving a plurality of GNSS satellite signals, which in this embodiment includes GNSS satellite signals 106, 107, and 108. System 190 for detecting false GNSS satellite signals also includes receiver 121 connected to both first antenna 101 and second antenna 122. Receiver 121 receives GNSS satellite signals 106, 107, and 108 from first antenna 101 and second antenna 122, measures GNSS satellite signal phase φ values (either code or carrier phase) of the GNSS satellite signals, and performs the range, location and attitude computations as required.

As shown in FIG. 3, GNSS spoofing is taking place to system 190 on vessel 100 of FIG. 1. Spoofing signal 142 is being received by first antenna 101 of vessel 100, just as shown and described in FIG. 1 and FIG. 2, except in the embodiment shown in FIG. 3, vessel 100 includes system 190 for detecting false GNSS satellite systems. Antennas 101 and 122 are both fixed to vessel 100 of FIG. 1, at locations A and B respectively. Vessel 100 is not shown in FIG. 3 for simplicity. Antennas 101 and 122 receive both the intended GNSS satellite signals 106, 107, and 108, and spoofing signal 142. Spoofing system 140 sends spoofing signal 142 along cable 139 and broadcasts spoofing signal 142 over transmitter 141. Spoofing system 140 generates spoofing signal 142 by rebroadcasting GNSS satellite signals 116, 117, and 118 from GNSS satellites 113, 114, and 115 as received by antenna 111 at GNSS location D, as shown in FIG. 2. GNSS satellite signals 116, 117, and 118 contain timing information that enable the computation of ranges R₁, R₂, and R₃ representing the distance between satellites 113, 114, and 115, respectively, and antenna 111. Ranges R₁, R₂, and R₃ are denoted 216, 217, and 218 in FIG. 3. Range computations of R₁, R₂, and R₃ are made by receiver 121 of attitude system 190 from measurements of GNSS satellite signal phase φ of GNSS satellite signals 116, 117, and 118 as received by antenna 111. Note that range measurements R₁, R₂, and R₃ will be computed by any GNSS receiver that is receiving and processing spoofing signal 142.

The intended, real GNSS satellite signals 106, 107, and 108, are broadcast by satellites 103, 104 and 105 as shown in FIG. 1 and FIG. 3. GNSS satellite signals 106, 107, and 108 travel from satellites 103, 104, and 106, respectively, to antenna 101 that is located at A. Under normal operation, GNSS receiver 121 connected to antenna 101 would measure GNSS satellite signal code or carrier phase φ values for GNSS satellite signals 106, 107, and 108 as received by antenna 101, and compute ranges r₁, r₂, and r₃ (denoted 206, 207, and 208 in FIG. 3) representing the distance between satellites 103, 104, and 105 and antenna 101.

Additionally, GNSS satellite signals 106, 107, and 108 from GNSS satellites 103, 104 and 105, travel to antenna 122 located at B. Under normal operation, GNSS receiver 121 connected to antenna 122 would measure GNSS satellite signal code or carrier phase φ values for GNSS satellite signals 106, 107, and 108 as received by antenna 122, and compute ranges r′₁, r′₂, and r′₃ (denoted 209, 210, and 211 in FIG. 3) as the distance between GNSS satellites 103, 104, and 105 and antenna 122.

Again under normal operation, GNSS receiver 121 uses the range r₁, r₂, and r₃ computations to compute GNSS location A for the location of antenna 101, where GNSS location A approximately coincides with the location of antenna 101 to the accuracy of the receiver. As well, under normal operation, GNSS receiver 121 connected to antenna 122 uses the r′₁, r′₂, and r′₃ range values and computes a GNSS location B that approximately coincides with the location of antenna 122. Computed ranges r′₁, r′₂, and r′₃ are different from r₁, r₂, and r₃. And the two GNSS locations A and B computed by receiver 121 connected to antennas 101 and 122 are different GNSS locations under normal operation, because locations A and B are not physically co-located. In some embodiments, the measured range differences r₁-r′₁, r₂-r′₂, and r₃-r′₃, rather than the computed ranges are used to compute GNSS locations.

During spoofing, signal 142 overpowers real GNSS satellite signals 106, 107, and 108. Signal 142 is received by both antenna 101 and antenna 122. GNSS receiver 121 connected to first antenna 101 and second antenna 122 measures GNSS satellite signal carrier phase φ values and computes ranges of R₁, R₂, and R₃ as if received by antenna 111 instead of the intended ranges (r₁, r₂, r₃ and r′₁, r′₂, r′₃). GNSS receiver 121 measures identical ranges of R₁, R₂, and R₃ for what receiver 121 believes to be the path length to satellites 103, 104, and 105 from both antenna 101 and antenna 122. Therefore, one method for system 190 to use to detect false GNSS satellite signals is to compute one or more range differences, where a range difference is the difference between the range to a specific GNSS satellite from a first antenna, and the range to the same specific GNSS satellite from a second antenna. Because the range is calculated to two different antennas, the two ranges should be different and the range difference should be larger than a predetermined threshold range difference value. If the ranges are the same or close to the same value, the range difference will be small or zero. If the range difference is small or zero—smaller than the predetermined threshold range difference value, for example—then this can be used as an indication that one or more of the GNSS satellite signals is a false GNSS satellite signal. Or if all pseudo range differences have roughly the same value—due to receiver clock differences or transmission delay, then the system is being spoofed. Transmission delay between antennas is the same for all false GNSS satellite signals (spoofing signals) since they follow the same path. Pseudo ranges are ranges that still have clock or delay components present.

FIG. 4 illustrates method 400 of detecting false GNSS satellite signals according to embodiments of the invention, using measured range differences as described above. Method 400 includes element 410 of receiving a plurality of GNSS satellite signals with each one of a plurality of antennas. FIG. 3 shows two antennas 101 and 122, but the plurality of antennas can include any number of antennas greater than one. FIG. 3 shows three GNSS satellite signals 106, 107, and 108 in the normal non-spoofing environment, or GNSS satellite signals 116, 117, and 118 in the spoofed environment, but the plurality of GNSS satellite signals can include any number of satellite signals greater than one.

Method 400 includes element 420 of measuring a plurality of GNSS satellite signal phase φ values. The plurality of GNSS satellite signal phase φ values includes a GNSS satellite signal phase φ value for each of the plurality of GNSS satellite signals at each of the plurality of antennas. Method 400 also includes element 430 of computing a range to a first GNSS satellite from a first one of the plurality of antennas, using the plurality of GNSS satellite signal phase φ values. Each range is the distance between one of the plurality of antennas and one of a plurality of GNSS satellites. The plurality of GNSS satellites are the GNSS satellites broadcasting the plurality of GNSS satellite signals. In FIG. 3 in the non-spoofing situation, the plurality of GNSS satellites is shown as three GNSS satellites 103, 104, and 105, broadcasting the plurality of real GNSS satellite signals 106, 107, and 108. In the spoofing situation the plurality of GNSS satellites is shown as three GNSS satellites 113, 114, and 115 broadcasting the plurality of GNSS satellite signals 116, 117, and 118, which are combined into spoofing signal 142. Each of the above pluralities can be any number greater than one. For example, in a normal situation with no false GNSS satellite signals, element 430 will include receiver 121 of system 190 of FIG. 3 computing range r₁ from first antenna 101 to GNSS satellite 103. In a spoofing environment where first antenna 101 is receiving spoofing signal 142, element 430 will include receiver 121 computing range R₁ from first antenna 101 to GNSS satellite 103.

Method 400 also includes element 440 of computing a range to the first GNSS satellite from a second one of the plurality of antennas, using the plurality of GNSS satellite signal phase φ values. Continuing with the example above, in a normal situation with no false GNSS satellite signals, element 440 will include receiver 121 computing range r′₁ from second antenna 122 to GNSS satellite 103. In a spoofing environment where second antenna 122 is receiving spoofing signal 142, element 440 will include receiver 121 computing range R₁ from second antenna 122 to GNSS satellite 103. Note that in the non-spoofing environment the ranges r₁ and r′₁ are different because the antennas 101 and 122 are in different locations and thus the path lengths r₁ and r′₁ are different. But in the spoofing environment when first and second antennas 101 and 122 are receiving false GNSS satellite signals 116, 117, and 118 in spoofing signal 142, receiver 121 will compute range R₁—the same range value—for the range between both first antenna 101 and second antenna 122, and GNSS satellite 103, because the data received by both first antenna 101 and second antenna 122 reflects a range R₁ from spoofing antenna 111 and GNSS satellite signal 113.

Method 400 according to embodiments of the invention also includes element 450 of computing a range difference, where the range difference is the difference between the range to the first GNSS satellite from the first antenna, and the range to the first GNSS satellite from the second antenna. Continuing the example, element 440 in the normal, non-spoofing environment will include computing the difference between r₁ and r′₁. This difference should reflect the fact that the antennas 101 and 122 are in different locations. In the spoofing environment element 440 will include computing the difference between R₁ and R₁. Since the range measurements in the spoofing environment are the same within computational accuracy, the range difference in the spoofing environment should be zero or some small number that results from a small amount of computational error in each range calculation.

Method 400 also includes element 460 of using the range differences to determine whether the plurality of GNSS satellite signals includes a false GNSS satellite signal. In some embodiments the range difference is compared to a predetermined threshold range difference. If the range difference is smaller than the predetermined threshold range difference, then it is determined that the plurality of GNSS satellite signals includes a false GNSS satellite signal. If the range difference is larger than the predetermined threshold range difference, then it is determined that the plurality of GNSS satellite signals does not include a false GNSS satellite signal. In some embodiments a plurality of range differences is computed, using the plurality of GNSS satellite signals as received by the plurality of antennas to measure and difference a plurality of ranges. Element 460 can include many different ways and methods of comparing the range difference or differences. Method 400 can include many other elements. In some embodiments method 400 includes the element of preventing the system from outputting a locational output in response to determining that the plurality of GNSS satellite signals includes at least one false GNSS satellite signal. Preventing the locational data from being output is one way to keep false GNSS satellite signals from being successful in taking over control of a navigational system or other system that is using the antennas for a purpose.

In the spoofed environment, where first antenna 101 and second antenna 122 are receiving spoofing signal 142 containing GNSS satellite signals 116, 117, and 118 in the embodiment shown in FIG. 3, GNSS receiver 121 measures the same or similar ranges R₁, R₂, and R₃ for the path length to satellites 103, 104, and 105 (because the data is really from GNSS satellites 113, 114, and 115) from both antenna 101 and antenna 122. Receiver 121 will use these values to compute substantially the same GNSS location, within a locational margin of error, for both GNSS location A of antenna 101 and GNSS location B of antenna 122. Receiver 121 of system 190 does not know the GNSS location of point A and point B beforehand, but it may know the relative distance between point A and point B. Therefore a second method for system 190 to use to detect false GNSS satellite signals is to compare the computed GNSS locations A and B. System 190 will determine that it is receiving a false GNSS satellite signal in response to the computed GNSS locations of antennas 101 and 122 being the same GNSS locational value within a locational margin of error. In some embodiments this method includes computing a GNSS location for each of the plurality of antennas using the plurality of ranges, and determining that the plurality of GNSS satellite signals includes a false GNSS satellite signal in response to the computed GNSS locations for each of the plurality of antennas being the same GNSS locational value within a locational margin of error.

Thus, two-antenna GNSS system 190 according to an embodiment of the invention as shown in FIG. 3 is able to detect spoofing in many cases. Note that spoofing signal 142 may transverse different paths, 221 and 222 to travel to antennas 101 and 122. The difference in path length and thus signal travel time of spoofing signal 142 along paths 221 and 222 will result in receiver 121 connected to antennas 101 and 122 computing different receiver clock offsets. However, this will not affect the range or location calculations. When receiving spoofing signal 142, system 190 will compute ranges and GNSS locations A and B that are the same values to within the accuracy of receiver 121. It is to be understood that while first antenna 101 and second antenna 122 are shown connected to one common receiver 121, each antenna could have its own GNSS receiver, with a common processor comparing the data to determine that the computed GNSS locations A and B are the same locational value within a locational margin of error.

This method of detecting false GNSS satellite signals by comparing the computed GNSS locations of two or more antennas can have issues in some cases. In particular, if the distance between the first and the second antennas 101 and 122 is smaller than the locational margin of error as computed by each receiver, then it may not be possible to determine whether the locations are the same within the locational margin of error. This is illustrated in FIG. 5. FIG. 5 shows antenna 101 at location A of FIG. 3, and antenna 122 at location B of FIG. 3. Each antenna is receiving GNSS satellite signals 106, 107, and 108 from GNSS satellites 103, 104, and 105 respectively. Receiver 121 (FIG. 3) calculates the GNSS location of receiver 101, which is accurate to within a location margin of error 160 as shown in FIG. 5. Receiver 121 also calculates the GNSS location of receiver 122 which is accurate to within a location margin of error 162 as shown in FIG. 5. A locational margin of error is the area of uncertainty which surrounds the GNSS location calculation due to error and imprecision in the measurements of range. Locational margin of errors 160 and 162 are shown as two-dimensional ovals in FIG. 5, but it is to be understood that they are three-dimensional areas such as spheres, ovoids, or other three-dimensional areas. Cross-hatched area 164 as shown in FIG. 5 represents area of overlap 164 of the two locational margins of error 160 and 162. When antenna 101 and antenna 122 are close enough to each other that they both reside within area of overlap 164 as shown in FIG. 5, it is not possible to determine accurately whether the computed GNSS locations of location A and location B are the same GNSS location or not, because their locational margins of error overlap.

One way to alleviate the potential for false detection using the two antenna method is to ensure that the distance from antenna 101 to antenna 122 is sufficiently large that their respective locational margins of error 160 and 162 do not intersect. A disadvantage of doing this, however, is that it requires more installation space and possibly longer cables, and thus a less compact system. Minimizing the size of the locational margins of error 160 and 162 is a viable solution, which can be done with a GNSS attitude system, as will be discussed shortly.

It is to be understood that while sets of three satellites are shown and described in FIG. 1 through FIG. 5, resulting in a set of three GNSS satellite signals being sent, the set of three is an example only. In general a plurality of GNSS satellites is used for GNSS satellite signal code or carrier phase φ, range, location, and attitude measurements and computations, where a plurality is any number larger than one. A plurality of GNSS satellites are used by system 190, which results in each antenna receiving a plurality of GNSS satellite signals. And while first and second antennas 101 and 122 are shown and described, in general a plurality of antennas are used by system 190, where a plurality is any number greater than one. Throughout this document, sets of two or three GNSS satellites, GNSS satellite signals, and antennas are shown and described to simplify the drawings and the explanation, but it is to be understood that often the numbers of satellites, satellite signals, and/or antennas is a number greater than two or three, and in fact can be any number greater than one.

A GNSS attitude system (also referred to as a GNSS attitude determining system) has the capability of executing a variety of measurements and computations which allow it to determine with high accuracy whether GNSS satellite signals are false GNSS satellite signals, while minimizing the limitations of using the measured ranges or computed GNSS locations as described above. A GNSS attitude system has a minimum of two antennas and computes ranging differences by differencing the GNSS satellite signal code or carrier phase φ values measured at the two or more antennas. A basic GNSS attitude system and method of using the GNSS attitude system to detect false GNSS satellite signals is described below. More details on GNSS attitude systems and the computation of carrier phase differences can be found in related U.S. Pat. No. No. 7,292,185 to Whitehead.

FIG. 6 depicts attitude determining system 390 (also called attitude system 390 or system 390) according to an embodiment of the invention for determining the presence of false GNSS satellite signals. System 390 is shown tracking a plurality of GNSS satellites 303, 304, and 305, also referred to as S1, S2, and S3, respectively. System 390 includes a plurality of antennas 301, 322, and 324 at locations A, B, and C to receive GNSS satellite signals. Satellites 303, 304, and 305 broadcast radio frequency GNSS satellite signals 306, 307 and 308, respectively. GNSS satellite signals 306, 307 and 308 are received by the plurality of antennas 301, 322 and 324. Each GNSS satellite signal 306, 307, and 308 travels from each antenna 301, 322 or 324 to receiver unit 321 via connections 314, 315, or 316 respectively, where it is down-converted and digitally sampled so that it may be tracked by digital tracking loops of receiver 321. Various timing and navigation information is readily extracted while tracking each of the plurality of GNSS satellite signals 306, 307, and 308, including the phase of a Pseudo Random Noise (PRN) code timing pattern (often called code phase) that is modulated on each of the plurality of GNSS satellite signals 306, 307, and 308, the carrier phase φ of each GNSS satellite signal's carrier, and navigation data from which the location of each GNSS satellite may be computed. It will be appreciated that while three antennas 301, 322, and 324, three GNSS satellites 303, 304, and 305 and three GNSS satellite signals 306, 307 and 308 are used to depict the plurality of antennas, the plurality of GNSS satellites and the plurality of GNSS satellite signals in FIG. 6, a greater or lesser number of antennas, satellites and satellite signals can be used if desired.

In order to perform the prescribed functions and desired processing, as well as the computations therefor (e.g., the attitude determination processes, and the like), receiver 321 may include, but not be limited to, a processor(s), computer(s), memory, storage, register(s), timing, interrupt(s), communication interface(s), and input/output signal interfaces, and the like, as well as combinations comprising at least one of the foregoing. For example, receiver 321 may include signal interfaces to enable accurate down-conversion and digital sampling and tracking of GNSS satellite signals as needed, and to facilitate extracting the various timing and navigation information, including, but not limited to, the phase of the PRN code timing pattern.

FIG. 7 shows an example embodiment of receiver 321 of attitude determining system 390 of FIG. 6 that can be used for detecting the presence of false GNSS satellite signals. System 390 of FIG. 6 and FIG. 7 uses single receiver unit 321 containing multiple synchronized tracking devices 202, 203 and 204. Each tracking device 202, 203 and 204 is associated with exactly one antenna 301, 322 and 324 respectively. Each tracking device 202, 203 and 204 is capable of tracking a plurality of GNSS satellites. In this embodiment each tracking device 202, 203 and 204 is tracking each satellite 303, 304 and 305. Tracking devices 202, 203, and 204 serve the function of down converting the received Radio Frequency (RF) GNSS satellite signals 306, 307 and 308 arriving from the plurality of satellites 303, 304 and 305, sampling the composite signal, and performing high-speed digital processing on the composite signal (such as correlations with a PRN reference signal) that allow the code and carrier phase φ of each satellite to be tracked. Examples and further description of synchronized tracking devices such as tracking devices 202, 203 and 204 are described in commonly assigned U.S. Pat. No. 7,292,186 entitled Method and System for Synchronizing Multiple Tracking Devices For A Geo-location System, filed Jan. 5, 2005, the contents of which are incorporated by reference herein in their entirety. Each tracking device 202, 203 and 204 is connected to a single shared computer processing unit (CPU) 318 in this embodiment. CPU 318 sends control commands 310, 311 and 312 to the plurality of tracking devices 202, 203 and 204, respectively. Control commands 310, 311 and 312 enable tracking devices 202, 203 and 204 to track the plurality of GNSS satellites 303, 304 and 305. CPU 318 receives back from each tracking device 202, 203 and 204 code and carrier phase φ measurements of the plurality of GNSS satellite signals 306, 307 and 308.

Synchronization signal 214 is sent from master tracking device 202 to slave tracking devices 203 and 204. Sync signal 214 allows master tracking device 202 and slave tracking devices 203 and 204 to measure the code and carrier phase φ of each of the plurality of GNSS satellite signals 306, 307 and 308 simultaneously. Furthermore, the RF down conversion within each tracking device 202, 203 and 204 and the sampling of data by each tracking device 202, 203 and 204 is done using common clock signal 320. When a single-difference phase observation is formed by subtracting the carrier (or code) phase φ measured by one tracking device with that measured by another tracking device for the same GNSS satellite, the portion of the phase due to receiver 321's clock error is essentially eliminated in the difference. Thereafter, all that remains of the single-difference clock error is a small, nearly constant bias that is due to different effective RF path lengths (possibly resulting from different cable lengths, slightly different filter group-delays, and the like). Consequently, the clock error may be estimated infrequently compared to other more important quantities such as heading, pitch, or roll. During the times that the clock error is not estimated, attitude determining system 390 can produce an output using one fewer GNSS satellites than a system that must continually estimate clock error. Or, if a Kalman filter is utilized, the process noise for the clock state may be lowered substantially, allowing the Kalman filter to strengthen its estimate of the other states such as the angles of attitude. Finally, cycle slips are easier to detect since clock jumps can be ruled out.

Referring again to FIG. 6, selected pairs of antennas are grouped together so that GNSS satellite signal code or carrier phase differences Δ of GNSS satellite signals received by each of the two antennas of the pair may be computed. A GNSS satellite signal code or carrier phase difference Δ (also called phase difference or differential phase) is the difference between the GNSS satellite signal code or carrier phase φ value of a specific GNSS satellite signal measured at a first antenna, and the GNSS satellite signal code or carrier phase φ value of the same GNSS satellite signal measured at a second antenna. For example, in FIG. 6, the pairs AB, AC and BC are possible combinations of antenna pairs from which to compute phase differences Δ.

Attitude determining system 390 as shown in FIG. 6 and FIG. 7 uses measurements of carrier phase φ values and computations of carrier phase differences Δ to detect false GNSS satellite signals. It is to be understood that code phase values and differences can be used in place of carrier phase values and differences in the computations described for attitude determining system 390. Carrier phase measurements are used in these embodiments because the carrier signal component has a higher precision than the code signal components, and therefore results in more precise location and attitude computations. FIG. 8 through FIG. 10 illustrate embodiments of method 500 of detecting false GNSS satellite signals. FIG. 11 through FIG. 16 and the corresponding discussion show and describe the various elements included in the embodiments of method 500 shown in FIG. 8 through FIG. 10. In some embodiments of the invention, a GNSS attitude system such as system 390 is used to perform method 500. In some embodiments a two-antenna system such as system 190 shown in FIG. 3 is used to perform method 500 of detecting false GNSS satellite signals. In some embodiments the system for using method 500 of detecting false GNSS satellite systems includes at least a first antenna, a second antenna, and a receiver. The first and the second antenna receive a plurality of GNSS satellite signals. The receiver is electrically connected to the first and the second antenna, and receives the plurality of GNSS satellite signals received by each of the first and the second antenna. The receiver executes the elements included in the various embodiments of method 500 as illustrated in FIG. 8 through FIG. 10 and described below. The description below illustrates and describes how GNSS attitude determining system 390 of FIG. 6 through FIG. 7 and FIG. 11 through FIG. 16 is used to perform embodiments of method 500 to detect false GNSS satellite signals.

FIG. 8 illustrates one embodiment of method 500 of using a GNSS attitude system to detect false GNSS satellite signals. Method 500 includes element 510 of receiving a plurality of GNSS satellite signals with each one of a plurality of antennas. In some embodiments each of the plurality of antennas belongs to the GNSS attitude system. In the embodiment shown in FIG. 6 and FIG. 7, GNSS attitude determining system 390 is performing method 500. In this embodiment the plurality of GNSS satellite signals includes GNSS satellite signals 306, 307, and 308 from GNSS satellites 303, 304, and 305 respectively. The plurality of antennas includes first antenna 301, second antenna 322, and third antenna 324. Each one of the plurality of antennas 301, 322, and 324 receives each one of the plurality of GNSS satellite signals 306, 307, and 308.

In some embodiments method 500 includes element 530 of measuring a plurality of GNSS satellite signal code or carrier phase φ values. Receiver 321 of attitude determining system 390 executes element 530 of measuring a plurality of GNSS satellite signal code or carrier phase φ values in the embodiment shown in FIG. 6 and FIG. 7. Each GNSS satellite signal code or carrier phase φ value is a GNSS satellite signal code or carrier phase φ value for each one of the plurality of GNSS satellite signals 306, 307, and 308 at each one of the plurality of antennas 301, 322, and 324. In the embodiment of system 390 shown in the figures and in the description below, system 390 is measuring GNSS satellite signal carrier phase φ values. Carrier phase φ values are used by attitude system 390 because the carrier signal component has a wavelength that is small as compared to the code length and therefore provides greater accuracy in range, location, and attitude calculations. It is to be understood that code phase measurements can be used in place of carrier phase measurements in the calculations.

FIG. 11 illustrates elements of the measurement of carrier phase φ values for a GNSS satellite signal. FIG. 11 shows a portion of system 390 of FIG. 6 and FIG. 7, including GNSS satellite 303, also referred to as satellite S1, first antenna 301, second antenna 322 and receiver 321. The remaining items included in the plurality of GNSS satellites and the plurality of antennas of FIG. 6 and FIG. 7 have been left out of FIG. 11 for simplicity. FIG. 11 depicts the reception of GNSS satellite signal 306 containing a carrier 307 component by antennas 301 and 322 of attitude determining system 390 of FIG. 6 and FIG. 7, where GNSS satellite signal 306 is then routed from each antenna to receiver unit 321. First antenna 301 and second antenna 322 receive GNSS satellite signal 306 from GNSS satellite 303 S1. GNSS satellite signal 306 received at each antenna 301 and 322 is routed via cables 314 and 315 to receiver unit 321. Receiver unit 321 tracks GNSS satellite signal 306 using tracking devices 202 and 203 associated with antennas 301 and 322 (FIG. 7). Code and carrier phase φ measurements of GNSS satellite signal 306 are made at regular intervals. Of particular importance to some embodiments of this invention is the phase φ of the carrier 307 of GNSS satellite signal 306, which is related to the range to the satellite by the carrier's wavelength λ 309. The carrier phase φ is the measure of the particular point in the wavelength cycle that the GNSS satellite signal is at when it reaches an antenna. The range to GNSS satellite 303 may be expressed in terms of the number of carrier wavelengths λ 309 that will divide it. For GPS satellites, carrier wavelength λ 309 is approximately 19 cm for the L1 carrier and 24 cm for the L2 carrier. The tracking loops within receiver 321 typically track the carrier phase φ to an accuracy of less than three percent of the carrier's wavelength λ. This equates to 5 mm or less when tracking the L1 carrier signal in the GPS form of GNSS. The carrier phase value of GNSS satellite signal 306 as measured at first antenna 301 is designated φ_(A) ^(S1), and the carrier phase value of GNSS satellite signal 306 as measured at second antenna 322 is designated φ_(B) ^(S1). The naming convention used herein for carrier phase φ is such that the S1 superscript designates the satellite that originated the GNSS satellite signal that is having its phase measured, and the subscript designates the location of the antenna at which the carrier phase φ is measured.

Element 530 of measuring a plurality of GNSS satellite signal code or carrier phase φ values according to embodiments of the invention can include many other elements. Element 530 of measuring a plurality of GNSS satellite signal code or carrier phase φ values can be performed by any method known in the art now or discovered in the future for measuring GNSS satellite signal code or carrier phase φ values of GNSS satellite signals.

The embodiment of method 500 shown in FIG. 8 also includes element 550 of using the plurality of GNSS satellite signal code or carrier phase φ values to determine whether the plurality of GNSS satellite signals 306, 307, and 308 includes a false GNSS satellite signal. Element 550 is executed by receiver 321 in the embodiment shown in FIG. 6 and FIG. 7. The measured GNSS satellite signal code or carrier phase φ values can be used in any number of ways to determine whether the plurality of GNSS satellite signals 306, 307, and 308 comprises one or more than one false GNSS satellite signal. Several of these ways are described below. In some embodiments the GNSS satellite signal code or carrier phase φ values are used to measure ranges and GNSS locations of the plurality of antennas as explained earlier with respect to FIG. 3 and FIG.4. FIG. 9 and FIG. 10, which are to be discussed shortly, show and describe a number of further embodiments of element 550 of method 500 as shown in FIG. 8.

Method 500 of using a GNSS attitude system to detect false GNSS satellite signals can include many other elements. In some embodiments method 500 includes element 570 of preventing the attitude system from outputting a positional output in response to determining that the plurality of GNSS satellite signals includes a false GNSS satellite signal. This element is shown in dotted lines in FIG. 8 because it is optional in method 500 of FIG. 8. In some embodiments the system for detecting false GNSS satellite signals such as attitude determining system 190 or 390 described in this document provides a warning once false GNSS satellite signals are detected. In other embodiments the system for detecting false GNSS satellite signals such as attitude determining system 190 or 390 described in this document excludes the detected false GNSS satellite signals from the location calculation. Element 570 includes any elements or steps performed, or executed, to provide a warning or to prevent the attitude system from outputting false navigational data. The false navigational data could allow the false GNSS satellite signals to take over navigation of a vehicle, for example. In some embodiments element 570 includes preventing locational data from being output from attitude determining system 390. In some embodiments element 570 includes preventing attitude data from being output from attitude determining system 390. In some embodiments element 570 includes preventing range data from being output from attitude determining system 390. In some embodiments element 570 includes preventing a National Marine Electronics Association (NMEA) output message such as the NMEA GPGGA output message from being delivered from attitude determining system 390. Preventing the attitude system from providing navigational data such as range, location, and attitude will prevent the false GNSS satellite signals from taking control of the equipment that is using the attitude system. In some embodiments method 500 includes outputting a warning signal in response to detecting false GNSS satellite signals. In some embodiments method 500 includes excluding false GNSS satellite signals from computations such as location, attitude, or time. In some embodiments method 500 includes excluding a particular type of GNSS satellite signals (GPS, GLONASS, BDS) from computations in response to detecting a false GNSS satellite signal of the particular type. For example. If a GPS satellite signal is detected to be false, the attitude system can use GLONASS satellite signals for computations, excluding the GPS signals.

Several embodiments of element 550 of using the plurality of GNSS satellite code or carrier phase φ values to determine whether the plurality of GNSS satellite signals comprise a false GNSS satellite signal are shown in FIG. 9 and FIG. 10 and described below. FIG. 9 shows embodiments of element 550, including two embodiments of element 554 of element 550. FIG. 10 shows a further embodiment of element 554 of element 550.

Element 550 of FIG. 9 includes element 552 of computing a plurality of first carrier phase differences Δ₁ from the plurality of carrier phase φ values. In some embodiments code phase values are measured instead of carrier phase φ values, and code phase differences computed instead of carrier phase φ differences. It is to be understood that code phase values and differences can be used in place of carrier phase values and differences by attitude system 390. In this document the first carrier phase difference is designated as Δ₁, and is defined as the difference between the measured carrier phase φ of a specific one of the plurality of GNSS satellite signals at a first antenna (A) and the measured carrier phase φ of that same specific one of the plurality of GNSS satellite signals at a second antenna (B), and is given by:

Δ₁−φ_(B) ^(S)−φ_(A) ^(S),  (1)

where φ_(B) ^(S) is the measured carrier phase of the GNSS satellite signal originating at satellite S and having its carrier phase measured at antenna B, and φ_(A) ^(S) is the measured carrier phase of the same GNSS satellite signal originating at satellite S but having is carrier phase measured at antenna A. First carrier phase difference Δ₁ in this embodiment is a measured carrier phase difference because it is determined from the measured carrier phase φ values. This is in contrast with the second estimated carrier phase difference Δ₂ to be discussed shortly, which is an estimated carrier phase difference value computed based on geometric considerations.

Equation 1 provides one method of executing element 552 of FIG. 9 of computing a plurality of first carrier phase differences Δ₁ from the plurality of carrier phase φ values. Once a plurality of carrier phase φ values are measured by receiver 321 of system 390 for a plurality of GNSS satellite signals at a plurality of antennas (element 530), the first carrier phase differences Δ₁ are computed according to Equation 1 and element 552 of method 500. First carrier phase differences Δ₁ are determined for each antenna pair and for each GNSS satellite signal. These first carrier phase differences Δ₁ are then used to determine whether the plurality of GNSS satellite signals includes false GNSS satellite signals, as detailed as element 554 in FIG. 9 and FIG. 10. Thus in some embodiments computing a plurality of first carrier phase differences includes subtracting a measured carrier phase φ value of each individual one of the plurality of satellite signals as received at a first one of the plurality of antennas from a corresponding measured carrier phase φ value of each individual one of the plurality of satellite signals as received at a second one of the plurality of antennas.

Element 550 of method 500 in the embodiment shown in FIG. 9 includes element 554 of using the plurality of first carrier phase differences Δ₁ to determine whether the plurality of GNSS satellite signals includes a false GNSS satellite signal. The first carrier phase differences Δ₁ can be used in many ways to determine whether the plurality of GNSS satellite signals includes a false GNSS satellite signal. Described below are the details of a number of example steps, elements, methods, and computations for executing element 554 of using the plurality of first carrier phase differences Δ₁ to determine whether the plurality of GNSS satellite signals includes a false GNSS satellite signal using attitude determining system 390 of FIG. 6, and FIG. 7. These embodiments of element 554 include computations of the attitude of a baseline vector connecting two of the antennas (element 556 and element 564 to be described shortly), and the computation of second estimated carrier phase differences Δ₂ (element 558 and 566 to be described shortly). The results of these computations using the plurality of carrier phase φ values and the plurality of first carrier phase differences Δ₁ are used to determine whether the plurality of GNSS satellite signals include a false GNSS satellite signal.

Embodiments of element 554 of method 500 of detecting false GNSS satellite signals as shown in FIG. 9 and FIG. 10, and as used by system 390 rely on determining both a measured and an estimated carrier phase difference Δ value, and then comparing the measured and the estimated carrier phase difference Δ values to determine whether system 390 is receiving false GNSS satellite signals. System 390 according to embodiments of the invention computes a first measured carrier phase difference Δ₁, and a second estimated carrier phase difference Δ₂. Computation of the first carrier phase difference Δ₁ comprise element 552 as described above according to Equation 1. Computation of the second carrier phase difference Δ₂ comprise element 558 shown in FIG. 9 and FIG. 10 and will be discussed in further detail shortly. As mentioned earlier, first carrier phase difference Δ₁ is in this embodiment a measured carrier phase difference, computed from measured carrier phase φ values using Equation 1. Second carrier phase difference Δ₂ is an estimated value based on the assumed geometry of the GNSS satellites and the antennas. In a normal—non-spoofed GNSS system it is expected that the estimated second carrier phase difference Δ₂ will match the measured first carrier phase difference Δ₁. The residual error is the difference between first measured carrier phase difference Δ₁ and second estimated carrier phase difference Δ₂, in other words the residual error is the difference between the measured and the estimated calculations of carrier phase difference Δ. When false GNSS satellite signals are present, the two values Δ₁ and Δ₂ will not agree. Thus false GNSS satellite signals can be detected by comparing the two carrier phase differences Δ₁ and Δ₂, because the residual error or amount of difference between the two carrier phase difference values Δ₁ and Δ₂ will often be large when false GNSS satellite signals are received. When false GNSS satellite signals are not present, the two values Δ₁ and Δ₂ will often match with little residual error. The mismatch of first measured carrier phase difference Δ₁ values and second estimated carrier phase difference Δ₂ values is the basis of some embodiments of element 554 of method 500 of detecting false GNSS satellite signals according to the invention. In some embodiments a third carrier phase difference Δ₃—another estimated value—is computed and compared to the first and second carrier phase differences Δ₁ and Δ₂. Computation and use of third carrier phase difference 43 comprises elements 566 and 568 of element 554 of FIG. 10 and will be discussed shortly.

Element 554 of FIG. 9 includes element 556 of computing an attitude of a baseline vector between a first one of the plurality of antennas and a second one of a plurality of antennas using the plurality of first carrier phase differences Δ₁. The attitude of the baseline vector is used to compute the second carrier phase difference 42. FIG. 12 through FIG. 15 illustrate elements important to the computation of the attitude of a baseline vector and the computation of the second carrier phase difference 42. FIG. 12 and FIG. 13 show components of attitude determining system 390 for detecting false GNSS satellite systems of FIG. 6, FIG. 7, and FIG. 11, with some of the components not shown for simplicity. FIG. 12 and FIG. 13 show first and second antennas 301 and 322 of FIG. 6, FIG. 7, and FIG. 11 located at points A and B. Antennas 301 and 322 each receive GNSS satellite signal 306 from GNSS satellite 303 S1. Range vector {right arrow over (R)}_(A) ^(S1) extends from satellite 303 (S1) to antenna 301 at point A. The range vector naming convention used herein is such that the superscript designates the satellite that the vector extends from, and the subscript designates the antenna that the vector extends to. Therefore range vector {right arrow over (R)}_(A) ^(S1) extends from satellite S1 (303) to antenna 301 at point A. Range vector {right arrow over (R)}_(B) ^(S1) extends from satellite S1 (303) to antenna 322 at point B. Vector {right arrow over (R)}_(AB) extends between first antenna 301 and second antenna 322, joining points A and B. Any vector, such as vector {right arrow over (R)}_(AB), that joins two antennas will be termed a baseline vector. For the purpose of illustration, in FIG. 12, baseline vector {right arrow over (R)}_(AB), also denoted as 370 in the figures, is shown significantly large relative to the distance to satellite 303. FIG. 13 depicts the scenario that is more diagrammatically and geometrically accurate, where satellite 303 S1 (not shown in FIG. 13) is significantly far away relative to the length of {right arrow over (R)}_(AB), so that range vectors {right arrow over (R)}_(A) ^(S1) and {right arrow over (R)}_(B) ^(S1) are essentially parallel.

The difference in the length of range vector {right arrow over (R)}_(A) ^(S1) and the length of range vector {right arrow over (R)}_(B) ^(S1) is a value that is equivalent to the carrier phase difference Δ₁ of a GNSS satellite signal that is being received by both antenna 301 A and antenna 322 B. Thus in the system shown in FIG. 12 and FIG. 13, the difference in the length of range vector {right arrow over (R)}_(A) ^(S1) and the length of range vector {right arrow over (R)}_(B) ^(S1) can be used to estimate the carrier phase difference Δ₁ between the carrier phase φ value of GNSS satellite signal 306 from GNSS satellite 303 (S1) as received at second antenna 322 (φ_(B) ^(S1)) and the carrier phase φ of signal 306 as received at first antenna 301 (φ_(A) ^(S1)) and is defined as the geometric or estimated carrier phase difference Δ_(AB) ^(S1), as shown in FIG. 13 denoted as 350. The naming convention used herein for geometric or estimated carrier phase difference is such that the S1 superscript designates the satellite that originated the GNSS satellite signal that is having its phase difference Δ estimated, and the AB subscript designates the antennas that are receiving the GNSS satellite signal.

Attitude systems such as attitude determining system 390 routinely compute the attitude, or orientation of an object's axes relative to a reference system, based on the computed GNSS location of two or more receiving antennas such as antenna 310 at location A and antenna 322 at location B shown in FIG. 13. FIG. 14 illustrates baseline vector 370 {right arrow over (R)}_(AB) relative to earth base reference system 358. It is to be understood that often the attitude of objects is computed relative to a body-fixed reference system that is different than the earth-base reference system 358 shown, but the transformation from one reference system to another is a standard computation. Earth-base reference system 358 shown in FIG. 14 includes X axis 360 which points North, Y axis 364 which points East, and Z axis 362 which points down, towards the center of the earth. The attitude of baseline vector 370 {right arrow over (R)}_(AB) can be defined using yaw angle ψ 366, also known as heading, or azimuth angle, pitch angle θ 368, roll angle φ 369, and length L 380. With a two-dimensional object only two angles are needed, pitch angle θ 368 and roll angle φ 369.

In many attitude determining systems length L 380 of baseline vector 370 {right arrow over (R)}_(AB) is known because it is the distance between the two antennas 301 and 322, which is known or can be determined. Thus in some embodiments the computation of the attitude of the baseline vector includes computing the attitude of the baseline vector using a predetermined length of the baseline vector, where the predetermined length is the distance between the two antennas defining the baseline vector. The fewer the elements to be determined computationally, the fewer the number of equations that are needed to solve, and the more robust the computation. The computation of attitude of baseline vectors is routinely performed by GNSS attitude systems such as system 390. Method 500 takes advantage of this capability of attitude determining systems, and applies it to the problem of detecting false GNSS satellite signals. Details of the computation of the attitude of a baseline vector is described in more detail in U.S. Pat. No. 7,292,185 to Whitehead, et al, which the contents thereof are incorporated entirely herein by reference. It is to be understood that other angles and variables can be used to specify the attitude of a vector.

The estimated, or geometrically defined, carrier phase difference Δ_(AB) ^(S1) 350 as described earlier is defined based on geometric considerations as shown in FIG. 13. This geometric carrier phase difference Δ_(AB) ^(S1) 350 is in general the dot product of a unit vector from a GNSS satellite and the baseline vector {right arrow over (R)}_(AB) between the two antennas at location A and B that are receiving the GNSS satellite signal, given by:

Δ_(AB) ^(S1)={right arrow over (μ)}^(S1)·{right arrow over (R)}_(AB)  (2)

where {right arrow over (μ)}^(S1) is the unit vector from satellite 303 S1 (denoted 330 in FIG. 13) and {right arrow over (R)}_(AB) is the baseline vector 370 from antenna 301 at location A and antenna 322 at location B. The geometric carrier phase difference Δ_(AB) ^(S1) is an estimated value for the measured carrier phase difference Δ₁ as determine by equation 1. Substituting equation 2 into Equation 1 gives Equation 3:

Δ₁≈Δ_(AB) ^(S1)={right arrow over (μ)}^(S1)·{right arrow over (R)}_(AB).  (3)

Equation 3 is used by attitude determining system 390 to execute element 556, solving for baseline vector R_(AB) using multiple measurements of first carrier phase differences Δ₁ from multiple satellites. This is illustrated in FIG. 15. Unit vector {right arrow over (μ)}^(S1) 330 is determined by attitude determining system 390 using the known location of the originating satellite and the receiving antenna, as is known in the art of attitude determination. FIG. 15 shows the locations A and B of first and second antenna 301 and 322 of attitude system 390 of FIG. 6 and FIG. 7 and FIG. 11 through FIG. 13. Antennas 301 and 322 are not shown for simplicity of FIG. 13. Shown also are the three GNSS satellites 303 (S1), 304 (S2), and 305 (S3) of FIG. 6 and FIG. 7 and FIG. 11 through FIG. 13, the range vectors extending from each of GNSS satellites 303, 304, and 305 and locations A of first antenna 301 and location B of second antenna 322. GNSS satellites 303, 304, and 305 are broadcasting GNSS satellite signals 306, 307, and 308 respectively as shown previously in FIG. 6. Range vectors {right arrow over (R)}_(A) ^(S1) and {right arrow over (R)}_(B) ^(S1) are the range vectors from satellite 303 (S1) to locations A and B respectively. Range vectors {right arrow over (R)}_(A) ^(S2) and {right arrow over (R)}_(B) ^(S2) are the range vectors from satellite 304 (S2) to locations A and B respectively. Range vectors {right arrow over (R)}_(A) ^(S3) and {right arrow over (R)}_(B) ^(S3) are the range vectors from satellite 305 (S3) to locations A and B respectively. The estimated geometric carrier phase differences for each of the GNSS satellite signals 303, 304, and 305 as received by each of the first and the second antenna 301 and 302 are shown as 352 and Δ_(AB) ^(S1) 350, Δ_(AB) ^(S2) 352 and Δ_(AB) ^(S3) 354 respectively.

Attitude determining system 390 executes element 556 in some embodiments by creating an Equation 3 for each GNSS satellite signal and each baseline vector, then using the multiple equations to solve for the attitude of the baseline vector. Algebraic least-squares method or Kalman filter methods may be used to solve for the attitude of the baseline vector using the measured first carrier phase differences Δ₁. Attitude determining systems such as attitude determining system 390 of embodiments of the invention routinely perform calculations of the attitude of unit vectors and baseline vectors, as mentioned earlier. Further details about the calculation of unit vectors and baseline vectors can be found in U.S. Pat. No. 7,292,185 to Whitehead.

For the system shown in FIG. 13, the set of equations to be solved would be given by:

Δ_(AB) ₁ ^(S1)={right arrow over (μ)}^(S1)·{right arrow over (R)}_(AB),  (4)

Δ_(AB) ₁ ^(S2)={right arrow over (μ)}_(A) ^(S2)·{right arrow over (R)}_(AB),  (5)

and

Δ_(AB) ₁ ^(S3)={right arrow over (μ)}_(A) ^(S3)·{right arrow over (R)}_(AB),  (6)

where Δ_(AB) ₁ ^(S1), Δ_(AB) ₁ ^(S2), and Δ_(AB) ₁ ^(S3) are the measured first carrier phase differences Δ₁ computed using equation 1 and the measured carrier phase φ values of GNSS satellite signals 306 (from satellite 303 S1), 307 (from satellite 304 S2), and 308 (from satellite 305 S3) measured at antenna 301 A and 322 B. These three equations are simultaneously solved to determine the attitude of the baseline vector {right arrow over (R)}_(AB) 370. It is to be understood that in some embodiments more GNSS satellite signals are used, which provide a greater number of measured first carrier phase difference Δ₁ values. Often, the greater the number of equations that are solved simultaneously, the greater the resulting accuracy of the calculation of the attitude of baseline vector {right arrow over (R)}_(AB). In some embodiments the attitude of a second baseline vector is computed, where the second baseline vector extends between a first one of the plurality of antennas and a third one of the plurality of antennas. For attitude system 390 of FIG. 6, the second baseline vector extending between a first one of the plurality of antennas and a third one of the plurality of antennas is baseline vector {right arrow over (R)}_(AC) 372 between antenna A 301 and antenna 324 at location C, for example.

In this way the plurality of first carrier phase differences Δ₁ are used to perform element 556 of computing an attitude of a baseline vector between a first one of the plurality of antennas and a second one of the plurality of antennas. Element 556 is one of the elements that comprise element 554 in the embodiment of element 550 as shown in FIG. 9 and FIG. 10, and element 550 is one of the elements of method 500 according to embodiments of the invention of FIG. 8.

The next step in element 554 of using the plurality of first carrier phase differences Δ₁ to determine whether the plurality of GNSS satellite signals comprises a false GNSS satellite signal of element 550 as detailed in FIG. 9, is element 558 of computing a plurality of second carrier phase differences Δ₂ using the attitude of the baseline vector. For each of the first measured carrier phase difference Δ₁ values, a corresponding second, or estimated, carrier phase difference Δ₂ is computed using Equation 2 and the known attitude of the baseline vector and the unit vector from the solution to Equation 3. For the system shown in FIG. 15 the equations would be:

Δ_(AB) ₂ ^(S1)={right arrow over (μ)}^(S1)·{right arrow over (R)}_(AB),  (7)

Δ_(AB) ₂ ^(S2)={right arrow over (μ)}_(A) ^(S2)·{right arrow over (R)}_(AB),  (8)

and

Δ_(AB) ₂ ^(S3)={right arrow over (μ)}_(A) ^(S3)·{right arrow over (R)}_(AB),  (9)

where Δ_(AB) ₂ ^(S1), Δ_(AB) ₂ ^(S2) and Δ_(AB) ₂ ^(S3) are the second or estimated carrier phase differences Δ₂ values. It is to be understood that in some embodiments there will be more sets of baseline vectors, GNSS satellite signals, and corresponding measurements of carrier phase differences Δ₁ and Δ₂. In general computing a plurality of second carrier phase differences Δ₂ using the attitude of the baseline vector extending between a first and a second antenna includes computing the dot product of the baseline vector extending between the first and the second antenna and each one of a plurality of unit vectors, wherein each of the plurality of unit vectors corresponds to each of a corresponding one of the plurality of GNSS satellites and GNSS satellite signals. The result is a set of second, or geometric, carrier phase differences Δ₂. The second carrier phase differences Δ₂ are computed based on the assumed geometry of the system, the GNSS satellite locations and the attitude of the baseline vector {right arrow over (R)}_(AB). One of skill in the art will recognize that the calculation of first and second carrier phase differences is an iterative process which can be repeated to minimize error in the calculations, which will increase the reliability of the detection of false GNSS satellite signals.

Step 560 of element 554 as shown in FIG. 9 includes comparing the plurality of second estimated geometric carrier phase differences Δ₂ to the first measured carrier phase differences Δ₁. There are many ways that the first carrier phase differences Δ₁ and the second carrier phase differences Δ₂ can be compared to each other. In some embodiments the corresponding first and second carrier phase differences Δ₁ and Δ₂ are differenced and the differences squared and averaged or summed. In some embodiments this element involves subtracting the first carrier phase difference Δ₁ for each one of the plurality of GNSS satellite signals from the second carrier phase difference Δ₂ for the corresponding same one of the plurality of GNSS satellite signals. In some embodiments a residual error value is computed using the differences between the first and second carrier phase differences Δ₁ and Δ₂. In some embodiments the first carrier phase differences Δ₁ and the second carrier phase differences Δ₂ are compared in a way that results in a computation of a number or set of numbers that provides a measure of the size of the difference between the first and second carrier phase differences Δ₁ and Δ₂.

Step 562 of element 554 in the embodiment of element 550 shown in FIG. 8 includes using the comparison of the pluralities of first carrier phase differences Δ₁ and second carrier phase difference Δ₂ to determine whether the plurality of GNSS satellite signals includes a false GNSS satellite signal. Under normal operation of a GNSS navigational system, the second estimated or geometric carrier phase differences Δ₂ should match the first or measured carrier phase differences Δ₁ to within some threshold residual error value or margin of error. In some embodiments the computed residual error between the first carrier phase differences Δ₁ and second carrier phase differences Δ₂ can be compared to a threshold residual error value to determine if the difference between the first and second carrier phase differences Δ₁ and Δ₂ are large enough to indicate that the plurality of GNSS satellite signals comprises at least one false GNSS satellite signal. The first and second carrier phase difference Δ₁ and Δ₂ can be compared in any way which allows a determination of whether the differences between the two sets of values is large enough to indicate the presence of false GNSS satellite signals.

The difference between the first carrier phase differences Δ₁ and the second carrier phase differences Δ₂ will be large when there are false GNSS satellite signals present—the attitude system is being spoofed—because each of the false GNSS satellite signals will result in approximately the same first carrier phase difference Δ₁ value for each satellite signal. This will not be the case when the attitude system is receiving real GNSS satellite signals. This is illustrated in FIG. 16. FIG. 16 shows the situation of FIG. 15 except first antenna 301 at location A and second antenna 322 at location B are receiving spoofing signal 142 of FIG. 1 through FIG. 3. Spoofing signal 142 in this embodiment contains three false GNSS satellite signals 116, 117, and 118 which result in range values of R1 (216), R2 (217), and R3 (218) being computed by receiver 321, as shown in the figures. When the carrier phase φ of these signals 116, 117, and 118 is measured and differenced, the first measured carrier phase difference values Δ₁ for each different false GNSS satellite signal will be the same value or nearly the same value within the accuracy of the computation, and will not match well with the corresponding second estimated or geometric carrier phase difference value Δ₂, which assumes the satellite signals are originating from the sky where they would be originating from under normal non-spoofing circumstances.

For example, and as shown in FIG. 13 through FIG. 16, the signal path length differences between first antenna 301 at location A and second antenna 322 at location B, depend on the angle that the GNSS satellite signal's path makes with respect to the baseline vector {right arrow over (R)}_(AB) as can be seen in FIG. 15. Satellites are typically at different points in the sky, and thus make different angles with respect to each baseline vector. In a normal system without false GNSS satellite signals such as shown in FIG. 15, both the first measured carrier phase differences Δ₁ and the second geometric carrier phase differences Δ₂ will be approximately the same value for each GNSS satellite signal, and each GNSS satellite signal will all have different phase difference values, as seen in FIG. 15 by the differing length of Δ_(AB) ^(S1) (350), Δ_(AB) ^(S2) (352) and Δ_(AB) ^(S3) (354). In other words, in a normal non-spoofed system, the second estimated or geometrically computed carrier phase differences Δ₂ will match the first or measured carrier phase differences Δ₁ with little residual error.

When the attitude system is receiving false GNSS satellite signals, however, the first carrier phase differences Δ₁ and the second carrier phase differences Δ₂ will not match each other. The second carrier phase differences Δ₂ will be different values for each GNSS satellite signal, as shown in FIGS. 13 as Δ_(AB) ^(S1) (350), Δ_(AB) ^(S2) (352) and Δ_(AB) ^(S3) (354), because attitude determining system 390 assumes the GNSS satellite signals are originating from different satellites in the sky, and will compute different second or geometric carrier phase differences Δ₂ for each GNSS satellite signal. However, the first carrier phase differences Δ₁ will be the same values for each GNSS satellite signal as shown in FIG. 16, and will be equal to the common path length difference Δ_(AB) ^(D) (356) as shown in FIG. 16. The false GNSS satellite signals have the same path length difference, and hence the same first measured carrier phase difference Δ₁ values as measured at each of the antennas at location A and B, because the false GNSS satellite signals are originating from the same transmitter 141. Thus, the residual errors between the first and second carrier phase differences Δ₁ and Δ₂ will be large in this situation. Thus, there will be no solution for the attitude of the baseline vector {right arrow over (R)}_(AB) that will result in both small residual error between the first measured and second geometric carrier phase differences Δ₁ and Δ₂ and yield the correct, known baseline distance under spoofing conditions—when false GNSS satellite signals are being received.

This large difference between the first measured and second estimated carrier phase differences Δ₁ and Δ₂ is used in element 562 to determine that attitude determining system 390 is receiving at least one false GNSS satellite signal. When an attitude system such as system 390 is being spoofed with false GNSS satellite signals, the residual error between the first and second carrier phase differences Δ₁ and Δ₂ will be large. The residual error being larger than a threshold residual error value is an indication that false GNSS satellite signals are being received. It will be determined that at least one of the plurality of GNSS satellite signals are false GNSS satellite signals in response to the residual error value being larger than a threshold residual error value.

Thus receiver 321 of system 390 executes a computation resulting in a comparison of the first measured and second estimated carrier phase differences Δ₁ and Δ₂, and makes a determination of whether system 390 is receiving false GNSS satellite signals based on the result of the computation. In some embodiments a residual error is computed based on the differences between the first and second carrier phase differences Δ₁ and Δ₂. System 390 determines that false GNSS satellite signals are being received by system 390 when the residual error between the first and second carrier phase differences Δ₁ and Δ₂ is larger than a predetermined threshold residual error value.

A way to check this determination that the attitude system is receiving false GNSS satellite signals is to solve for the attitude of the baseline vector using a predetermined length L (380 in FIG. 14) of zero for the baseline vector. The solution of this attitude computation is called a zero-length baseline solution. As mentioned earlier, when a system is spoofed, the receiver will compute approximately the same GNSS location for each of the receiving antennas. Setting the length of the baseline vector between two antennas to zero is equivalent to the antennas being in the same location. Therefore, computing the attitude of the baseline vector between two antennas using a length of zero will result in a set of third estimated carrier phase differences Δ₃ that better match the first carrier phase differences Δ₁ that are measured using the false GNSS satellite signals. Here, Δ₃ will be zero, or exhibit a term that is common to all satellite phase differences. The zero baseline solution means that the ranges at both antennas are assumed to be the same (or contain a common clock/delay term), and thus the ranges differences, Δ₃, are zero or share a common value for all spoofed satellite signals.

This technique is embodied in element 554 as shown in FIG. 10. Elements 556, 558, 560 and 562 are as described earlier. Element 564 involves computing the zero-length baseline solution between the first antenna and the second antenna using the plurality of first carrier phase differences and a predetermined value of zero for the length L of the baseline vector. For attitude determining system 390 of FIG. 5 and FIG. 7 zero-length attitude vector {right arrow over (R)}_(AB zero) will be solved for using Equation 4, 5, and 6 and a value of zero for the length L 380 of attitude vector {right arrow over (R)}_(AB). Once the zero-length baseline solution {right arrow over (R)}_(AB) _(zero) zero is determined, this solution is used in Equation 7, 8, and 9 to compute a plurality of third estimated carrier phase differences 43.

Element 566 includes computing a plurality of third carrier phase differences Δ₃ using the zero-length baseline solution between the first and the second antenna. For this element the zero-length baseline solution R_(AB) _(zero) will be used in Equations 7, 8 and 9 above to compute a plurality of third estimated carrier phase differences Δ₃.

Element 568 includes comparing the plurality of first carrier phase differences Δ₁ to the plurality of third carrier phase differences Δ₃. For computations with an attitude system such as attitude determining system 390 that is receiving false GNSS satellite signals, the third carrier phase difference Δ₃ values will match well, with little residual error, to the first carrier phase differences Δ₁. The first and third carrier phase differences Δ₁ and Δ₃ can be compared using any number of computations. In some embodiments element 568 includes computing a zero-length residual error between the plurality of first carrier phase differences Δ₁ and the plurality of third carrier phase differences Δ₃. System 390 will determine whether false GNSS satellite signals are present based on the results of these computations. Receiver 321 of system 390 determines that false GNSS satellite signals are being received by system 390 when the residual error between the first and second carrier phase differences Δ₁ and Δ₂ is greater than a predetermined threshold residual error value, and the zero-length baseline residual error between the first and third carrier phase differences Δ₁ and Δ₃ is less than the predetermined threshold residual error value. The computation of the zero-length baseline solution, the resulting third carrier phase differences Δ₃, and the zero-length residual error is used in this embodiment to confirm the determination that false GNSS satellite signals are present.

FIG. 20 generally illustrates a situation where a vessel 100 using GNSS navigation is subjected to a spoofing attack. In FIG. 20, the vessel 100 receives GNSS signals from multiple GNSS satellites, 103, 104 and 105. The GNSS signals 106, 107 and 108 are received by an antenna 101 at physical location 102 on the vessel 100. A GNSS receiver 121 is connected to the antenna 101, and computes a location of the GNSS receiver 121 (and consequently, the vessel 100) based on measurements of ranging information contained within the signals 106, 107 and 108. In an alternative embodiment, the vessel 100 may have an autopilot system that steers the vessel over a prescribed course using the computed location.

FIG. 20 also generally illustrates a GNSS spoofing system 140. The spoofing system 140 could be implemented by broadcasting signals from a GNSS simulator, or alternatively, by re-broadcasting live signals received at a location different from the GNSS system that is to be spoofed (referred to herein as the spoofing target location. The spoofing signals generated by spoofing system 140 are generated so as to mimic authentic GNSS signals. The spoofing GNSS signals 116, 117 and 118 are generated within a simulator or received from live GNSS satellites 113, 114 and 115. A composite spoofing signal containing a plurality of spoofing signals meant to mimic real satellite transmissions is generated by spoofing system 140 as if it had been received by an antenna 111, located at a point 132 that is offset from the intended spoofing target 110, which is known or assumed to be located at point 112. The offsets of the spoofing target location 132 relative to the true location 112 along two axes are shown as 133 and 134. The composite spoofing signal is fed along a cable 139 to a signal radiating device 141 that broadcast a composite spoofing signal 142 comprised of the signals 116, 117 and 118. The power level of composite spoofing signal 142 is such that when received by antenna 101 of GNSS receiver 121, it overpowers the real GNSS signals 106, 107 and 108. Consequently, the spoofing target, GNSS receiver 121, computes an incorrect location of the GNSS receiver 121 and vessel 100 based on the spoofing signals. This location 122 will have an offset from the true location 102 of GNSS receiver 121 and vessel 100. This is the intent of the spoofing system 140, and is achieved by using a location 132 that is offset relative to the known or assumed location 112 of the GNSS system 121 that is to be spoofed.

It should be appreciated that any transmission delay of the composite spoofing signal along the cable 139 or in the broadcast composite spoofing signal 142 is seen as a common clock delay among all GNSS spoofing signals 116, 117 and 118 of the composite spoofing signal 142, and that this delay may be solved for as part of the spoofing target receiver's (here, GNSS system 121) computations. Although the delay causes a small, often undetectable, receiver clock offset, spoofing of the location still takes place as intended by the spoofing system 140.

FIG. 21 also generally illustrates a situation in which GNSS spoofing is taking place. In FIG. 21, however, unlike in FIG. 20, two antennas, 101 and 102, receive both the intended (legitimate) GNSS signals and the spoofing signal 142. It should be appreciated that two antennas 101 and 102 may be connected to a single GNSS receiver, separate GNSS receivers, or to a GNSS attitude or heading system. A GNSS attitude or heading system may be configured to compute a vector (referred to herein as the baseline vector) between the two antennas 101 and 102 by processing the GNSS signals that are arriving at the two antennas. Using the baseline vector and geometry, the separation of the antennas as well as angles such as heading, roll and pitch, may be derived.

The spoofing system 140 generates spoofing signals that appear as if they had been received at an antenna 111 from satellites 113, 114, and 115. The antenna 111 is at a location that is the desired target location of the spoofing attack (namely, a location that spoofing system 140 would like spoofed GNSS receivers determine to be their actual physical location). The goal of the spoofing system 140 is to make the GNSS signals arriving at other antennas, such as 101 and 102, appear to be the same as those arriving at 111, for the purpose of determining the position of the spoofed system. The antennas 101 and 102 and spoofing target GNSS receiver coupled to them will then seem to be located at an incorrect position (the position of antenna 111), rather than their actual location, when the spoofing target receiver solves its location using the spoofed signals.

More specifically, the composite spoofing signal 142 contains timing information that marks the time-of-transmission from false satellites 113, 114, and 115. The individual false satellite signals making up the composite spoofing signal 142 are constructed so as to appear to have arrived at antenna 111 from false satellites 113, 114, and 115. Thus, implicit in these signals are the ranges 216, 217, and 218 between satellites 113, 114, and 115 and antenna 111. The composite spoofing signal 142 is sent along cable 139 and then re-broadcast through transmitter 141 to antennas 101 and 102. The antennas 101 and 102 then will appear (based on the composite spoofing signal 142) to have received the signal at the location of antenna 111 rather than at their actual locations. The GNSS receiver coupled to the antennas 101 and 102 processes the composite spoofing signal 142, and computes the ranges 216, 217, and 218, which are the ranges between each of satellites 113, 114, and 115 and antenna 111. These ranges are denoted R1, R2, and R3.

Non-spoofing GNSS signals are shown being broadcast by GNSS satellites 103, 104 and 105. GNSS signals from these satellites travel along paths 206, 207, and 208 to antenna 101 that is located at point A. Additionally, GNSS signals from satellites 103, 104 and 105 transverse along paths 209, 210, and 211 to antenna 102 located at point B. During normal operation (without the presence of spoofed signals), a GNSS receiver connected to antenna 101 would measure ranges r1, r2, and r3 and compute a location that approximately coincides with point A (to the accuracy of the GNSS receiver coupled to antenna 101). In addition, during normal operation, a GNSS receiver connected to antenna 102 would measure ranges r′1, r′2, and r′3 (which are different from r1, r2, and r3) and compute a location that approximately coincides with point B. The two computed locations from the GNSS receivers connected to antennas 101 and 102 would be different under normal operation. A GNSS attitude system connected to antennas at A and B may be configured to compute a baseline vector between the two antennas 101 and 102.

During a spoofing situation, spoofing signal 142 overpowers the authentic GNSS signals. As shown in FIG. 21, spoofing signal 142 is received by both antenna 101 and antenna 102 located at points A and B, respectively. GNSS receivers or a GNSS attitude or heading system connected to these two antennas would determine ranges of R1, R2, and R3 for each of antennas 101 and 102 (as if received by antenna 111) rather than the actual ranges (r1, r2, r3) and (r′1, r′2, r′3) to antennas 101 and 102, respectively. Since both antennas 101 and 102 receive identical ranges from the spoofing signal 142, GNSS receivers and/or attitude systems connected to these two antennas 101 and 102 would compute substantially the same location for each of antennas 101 and 102. Any baseline vector between antennas 101 and 102 would appear to have zero length under spoofing (assuming that all signals used in the computations were spoofed). However, under normal operation (without spoofing), the GNSS solution for the location of antennas 101 and 102 should show antennas in different physical locations, since one is physically at point A, while the other is physically at point B (different points). Consequently, a GNSS receiver or attitude system using multiple antennas then provides a means for detecting spoofing. If, when calculating the solution of the location of antennas 101 and 102, or in the determining the solution of the baseline vector between antennas 101 and 102, the antennas appear at the same location or the baseline vector has a length of zero, a spoofing attack may be taking place on signals used in the solution.

It should be appreciated that the spoofing signal may transverse different paths, 221 and 222 to travel to antennas 101 and 102. Due to the difference in path lengths between paths 221 and 222, and the resulting difference in signal travel time, processing spoofing signals 142 arriving at antenna 101 might result in a different receiver clock offset estimate than that obtained by processing the spoofing signals 142 arriving at antenna 102. However, it should be appreciated that the calculated locations for each of antennas 101 and 102 computed using the spoofing signals 142 will be substantially the same (to within the accuracy of the receiver).

With respect to the baseline vector mentioned above, a GNSS attitude system may be configured to make code and/or carrier phase measurements at two or more antennas to compute a baseline vector difference between antennas. It should be appreciated that this vector defines the attitude of the antenna arrangement. The code and carrier phases may be measured on signals received at the antennas from GNSS satellites belonging to one or more GNSS constellations. Examples of GNSS constellations include GPS, GLONASS, BeiDou, Galileo, QZSS, and IRNSS. It should be appreciated that signals may be sent on different carrier frequencies. For example, GPS satellites broadcasts their L1CA, L2P and L5 signals with carriers of 1575.42 MHz, 1227.6 MHz, and 1176.45 MHz respectively.

It should also be appreciated that one or more GNSS constellations may targeted by a spoofing attack. Furthermore, spoofing may occur on one or more signal classes. For example, GPS L1 may be spoofed, and L2 and L5 remain un-spoofed. Alternatively, GPS and GLONASS satellites may be spoofed on the L1CA and G1 signals, respectively. For purposes of this specification, the term “signal class” is used to designate sets of signals that are similar in carrier frequency, signal structure and data encoding methods. In some circumstances, GNSS constellations each have their own unique sets of signal classes. The Receiver Independent Exchange Format (RINEX) Version 3.03 contains a table describing most of the GNSS constellations, the carrier frequencies and signal encoding methods used today.

FIG. 17 depicts a carrier signal 602 which is broadcast from satellite 601 to antenna 603 along a path in the direction of unit vector 612, according to one embodiment. The carrier signal is sinusoidal and repeats at points 605, 606 and 607 which represent cycles of the carrier. There are a large number of integer cycles between the satellite 601 and antenna 603. The wavelength of the carrier signal, 611, is the distance of one cycle of the carrier, which is also the distance between any two repeating points 605 and 606. The wavelength, λ, is about 19 centimeters for the GPS L1 signal, and is in the range of approximately ⅕th to ¼th of a meter for most GNSS signals. The GNSS attitude system measures fractional wavelengths 604, usually to within an accuracy of well less than a centimeter and often down to the millimeter level. The carrier signal is a used as a measure of range between antenna and satellite by multiplying cycles of the carrier by the wavelength to obtain a range in meters. A carrier phase range measurement is preferable over code phase measurements due to it high precision.

Part of the attitude solution involves solving the number of integer carrier cycles that result when carrier phases are differenced between antennas. This integer number is often referred to as an integer ambiguity because carrier tracking starts at an arbitrary integer of the carrier phase. Integer ambiguity solutions are known in the art, and are often quite mathematically intensive. If antennas are spaced very closely, on the order of ½ of a carrier wavelength apart, the solution of the integer carrier cycles can be simplified since integers are easily chosen to assure differences of less than one cycle. Short antenna baselines (distances between antennas) avoid complex ambiguity searches, which may be beneficial for reliable detection of spoofing, and when wishing to avoid the complexities of integer ambiguity determination. Carrier phase measurements, even on a ½ cycle-length baseline, still provide enough accuracy that the problems introduced by inaccurate measurements, as shown in FIG. 3 previously, are avoided.

FIG. 18A and FIG. 18B generally illustrate signals arriving from a GNSS satellite in a GNSS attitude or heading system for use in spoofing detection, according to an embodiment.

In FIG. 18A, antennas A and B are shown separated by a baseline vector {right arrow over (r)}_(AB) referenced as 403. Signals 401 and 402 arrive at antennas A and B from satellite 400 along paths {right arrow over (r)}_(A) ^(S) and {right arrow over (r)}_(B) ^(S) respectively. The geometry is not shown to scale since the satellite, 400, located at S, is a very long distance away (thousands of kilometers away in earth orbit) from antennas A and B, as compared to the distance between antennas A and B, which may be only several centimeters to a few tens of meters apart.

FIG. 18B generally illustrates the geometry of the antennas A & B on a different scale without satellite S (which is very far from antennas A&B) being shown. As is shown in FIG. 18B, for practical and computational purposes, vectors {right arrow over (r)}_(A) ^(S) and {right arrow over (r)}_(B) ^(S) (originating from the satellite and ending at antennas A and B) are parallel as a result of the extremely long distance between satellite S and the antennas A and B). A unit vector from the satellite, {right arrow over (μ)}^(S), is shown and is parallel to both {right arrow over (r)}_(A) ^(S) and {right arrow over (r)}_(B) ^(S).

The attitude system of the present embodiment employs differential measurements of carrier phases. The difference in signal transmission paths from satellite S to the two antennas A and B contains a geometrical component that is the difference in length between the vectors {right arrow over (r)}_(A) ^(S) and {right arrow over (r)}_(B) ^(S). This geometrical signal path difference, G_(AB) ^(S), can be shown to be G_(AB) ^(S)={right arrow over (μ)}^(S)•{right arrow over (r)}_(AB) where {right arrow over (r)}_(AB), is the baseline vector 403. It should be appreciated that in attitude systems with three or more antennas, there are multiple baseline vectors. The attitude system makes measurements of G_(AB) ^(S) by differencing carrier phase observations measured at antennas A and B. It then solves for the vector {right arrow over (r)}_(AB) using multiple measurements of differential carrier phase from multiple satellites, possibly solving for carrier phase integer ambiguities as well.

FIG. 19 generally illustrates a two antenna attitude system according to an embodiment in which multiple carrier phase measurements are made from signals arriving from satellites 541, 542, and 543. The signals originate at the satellites and arrive at antenna A along paths, 511. The range vectors {right arrow over (r)}_(A) ^(S1), {right arrow over (r)}_(A) ^(S2) and {right arrow over (r)}_(A) ^(S3) are shown along these paths. Similarly, signals 512, originating at satellites 541, 542, and 543 arrive at antenna B taking three paths essentially parallel to the corresponding three paths, 511, taken for signals arriving at antenna A. The vectors from satellites to antenna B are denoted {right arrow over (r)}_(B) ^(S1), {right arrow over (r)}_(B) ^(S2) and {right arrow over (r)}_(B) ^(S3). A baseline vector, 503, between antenna A and B is shown, and is denoted {right arrow over (r)}_(AB). The corresponding geometrical signal path length differences between antennas A and B depend on the angle that the signal's path makes with {right arrow over (r)}_(AB). It should be appreciated that satellites are typically at different points in the sky, and thus make different angles with respect to {right arrow over (r)}_(AB). The differential path lengths G_(AB) ^(S1), G_(AB) ^(S2) and G_(AB) ^(S3) shown as 521, 522 and 523, respectively, all have different values. In the attitude system, these values (referred to as differential carrier phase measurements) are determined by first differencing (determining the differences between, such as, for example, by subtracting) carrier phase measurements taken at antenna A and antenna B. These carrier phase measurements typically have integer cycle ambiguities and clock terms that must be accounted for. Methods to solve integer cycle ambiguities are known in the art, with these techniques discussed in the literature under the subject of Real Time Kinematics (or RTK) and ambiguity resolution.

Using the differential carrier phase measurements, the baseline vector {right arrow over (r)}_(AB) is solved for using algebraic least-squares methods or a Kalman filter, and possibly including integer ambiguity resolution. Once {right arrow over (r)}_(AB) is solved for, and ambiguities and clock differences accounted for, Equation 0 below will hold true, and the differential carrier phase measurements will agree with the geometric values of G_(AB) ^(S1), G_(AB) ^(S2) and G_(AB) ^(S3) to the accuracy of the carrier phase measurements, which is typically below one centimeter. It should be appreciated that the geometric values are computed from geometry, using the actual distances and angles of the GNSS attitude system.

Let the difference of carrier phase observations of signals arriving from satellite S and measured at antennas A and B be denoted Δ_(AB) ^(S).

The carrier phase difference, Δ_(AB) ^(S), can be analyzed with the following equation

Δ_(AB) ^(S)=Nλ+e+cT+G _(AB) ^(S)  (Eq. 0)

Where, on the left-hand side of the equation we have Δ_(AB) ^(S) (the difference between the carrier phase measured at antenna A and antenna B, expressed in units of length, such as meters), and on the right-hand side of the equation we have the following:

G_(AB) ^(S), the carrier phase geometrical transmission path difference between receiving antennas A and B, which for distant transmission sources is given by G_(AB) ^(S)={right arrow over (u)}^(S)⋅{right arrow over (r)}_(AB);

-   -   N, an integer carrier cycle ambiguity;     -   λ, the carrier wavelength;     -   e, a combination of measurement noise such as receiver thermal         noise and multipath, and atmospheric effects on in the measured         carrier phase difference (also referred to herein as the error         term);     -   T, a clock term in units of time; and,     -   c , the speed of light.

T may comprise differences in receiver clocks, if a different receiver clock is used for measurements at antenna A and at antenna B. The clock term T also includes the RF path length difference between paths for antenna A and antenna B that are due to RF cable length differences and component group delay differences. T may be different for different signal classes due to group delay effects taking different values at different frequencies, but generally for a particular signal class, such as L1-GPS, T is the essentially the same for all carrier phase measurements of that signal class. Often, in practice, cT is treated as one quantity, which is in units of length rather than time.

It should be appreciated that the error term “e” is generally small. When antenna's A and B are separated by only meters or tens of meters, atmospheric effects essentially cancel. Furthermore, a well-designed system will have low multipath noise and thermal noise, and as such, e will be small (at least significantly small compared to the carrier wavelength λ).

We can re-arrange the carrier phase difference equation explicitly in terms of the error as

e=Δ_(AB) ^(S)−Nλ−cT−G_(AB) ^(S);

where G_(AB) ^(S)={right arrow over (u)}^(S)⋅{right arrow over (r)}_(AB)

Furthermore, we might not exactly know the length and orientation of the baseline vector {right arrow over (r)}_(AB), but instead may make an estimate of it by solving simultaneously sets of equations involving multiple carrier phase differences from different satellites. That is, for satellites S1, S2, S3, S4 and so on, we solve sets of equations such as

e₁ = Δ_(AB)^(S1) − N₁λ − cT − G_(AB)^(S1)e₂ = Δ_(AB)^(S2) − N₂λ − cT − G_(AB)^(S2)e₃ = Δ_(AB)^(S3) − N₃λ − cT − G_(AB)^(S3)e₄ = Δ_(AB)^(S4) − N₄λ − cT − G_(AB)^(S4) ⋮

where G_(AB) ^(S1) 32 {right arrow over (u)}^(S1)⋅{right arrow over (r)}_(AB), G_(AB) ^(S2)={right arrow over (u)}^(S2)⋅{right arrow over (r)}_(AB), G_(AB) ^(S3)={right arrow over (u)}^(S3)⋅{right arrow over (r)}_(AB), G_(AB) ^(S4)={right arrow over (u)}^(S4)⋅{right arrow over (r)}_(AB) . . .

We know that the error terms e₁, e₂, e₃, . . . are small, and as such, we can solve for the baseline vector {right arrow over (r)}_(AB) that minimizes the sum of the square of the errors. This sum of errors is denoted Se, where

${Se} = {\sum\limits_{i = 1}^{N}e_{i}^{2}}$

In the process of solving for the baseline vector, {right arrow over (r)}_(AB), we may also solve for T (or cT) and the integer ambiguities N₁, N₂, N₃, N₄, . . . This is accomplished using methods such as least squares and ambiguity resolution that are known in the art.

It should be appreciated that when multiple signal classes (for example, GPS L1 signals and GPS L2 signals) are utilized in the solution, we will typically have a different and unique T for each signal class. In some implementations, double-differences are formed between two sets of single-difference equations within a particular signal class, and in this case, the T will cancel, and need not be solved for.

Continuing, we let r_(AB) ^(esy) be the estimate of the baseline vector {right arrow over (r)}_(AB) obtained by solving the error equations above. Based in this estimated baseline vector, let {tilde over (G)}_(AB) ^(Si) be the estimated transmission path difference between antennas A and B such that

{tilde over (G)}_(AB) ^(Si)={right arrow over (u)}^(Si)⋅{right arrow over (r)}_(AB) ^(est)

For satellite Si, we may express e_(i) as in terms of the estimated transmission path difference. Starting with the actual error equation

e_(i)=Δ_(AB) ^(Si)−N₁λ−cT−G_(AB) ^(Si) and substituting in the estimate of transmission path for the real path difference, we have

e _(i)=Δ_(AB) ^(Si)−N ₁λ−cT−G _(AB) ^(Si)−esterr′ _(AB)

where the error due to estimating the baseline vector, esterr_(AB) ^(i), is

esterr _(AB) ^(i)={right arrow over (u)}^(Si)⋅({right arrow over (r)}_(AB)−{right arrow over (r)}_(AB) ^(est))

This estimation error is typically small if we have done a good job estimating the baseline vector {right arrow over (r)}_(AB) as well as the unit vector to the satellite u^(si).

Let the post-fit residual, res_(i), be comprised of the estimation error and noise terms. That is

res _(i)=esterr′ _(AB)+e _(i)

Then, the post-fit residual is

res _(i)=Δ_(AB) ^(Si)−N _(i)λ−cT−{tilde over (G)} _(AB) ^(Si)  (Eq. 1)

where

{tilde over (G)}_(AB) ^(Si)={right arrow over (u)}^(Si)⋅{right arrow over (r)}_(AB) ^(est)

Assuming Ni and cT are known or have been correctly solved, and {right arrow over (r)}_(AB) ^(est) is an accurate estimate of the true baseline, {right arrow over (r)}_(AB), then the estimated signal transmission path difference, {tilde over (G)}_(AB) ^(Si), will closely match true signal path difference, and the post-fit residual res_(i) will be small.

One measure of how good the estimated baseline vector agrees with all the measured phase differences is the sum square of the various residual terms.

$\begin{matrix} {M = {\sum\limits_{i = 1}^{N}\left( {res}_{i} \right)^{2}}} & \left( {{Eq}.\mspace{14mu} 2} \right) \end{matrix}$

In the above equations, the geometrical signal path difference, G_(AB) ^(Si) is an important quantity. There is typically high diversity in the magnitudes of these path differences due to the diversity in the locations of the transmitting GNSS satellites. Each satellite Si transmits a signal that has a unique angle of arrival with respect to the baseline vector {right arrow over (r)}_(AB). In FIG. 19, we see these transmission path differences depicted as 521, 522, and 523. They are shown to have a different value for each signal, which is dependent on signal arrival angle. The high diversity of the magnitudes of the G_(AB) ^(Si) terms is a key concept in the disclosed spoofing detection system.

Now consider what happens if the attitude system is spoofed. Referring again to FIG. 19, the spoofing signals 526, 527, and 528 all arrive from a common point C, located at the transmitter 141. If point C is sufficiently far from antennas A and B, the spoofing signal arrives at antenna A and B at essentially the same angle. These spoofing signals are generated by the spoofing system such that they appear to have path lengths, R₁ R₂ and R₃ plus a common transmission path length. The path lengths R₁ R₂ and R₃ are seen in the transmitted signal as a code phase and carrier phase shift proportional to the range. The attitude determination system measures the carrier phase of each of these signals at antennas A and B, and then differences the measured carrier phase (in this case, by subtracting). The ranges R₁ R₂ and R₃ cancel in the differencing process (which differences the ranges measured at the two antennas), since they are measured as the same value in each antenna. Consequently, each carrier phase difference, 536, 537 and 538, should have the same value, G_(AB) ^(C), which is the common path length difference between antenna A and antenna B as traversed by the spoofing signals 141.

When the false GNSS signals are from a single spoofing transmitter, the difference in carrier phases measured at two antennas will exhibit a common geometric value, G_(AB) ^(C), rather than unique and diverse values G_(AB) ^(S1), G_(AB) ^(S2) and G_(AB) ^(S3) as seen when spoofing is not present. We note that the carrier phase differences may also contain ambiguity and a clock terms, but these can be accounted for during the solution.

The lack of diversity in carrier phase differences under the presence of spoofing will render spoofing detectable in a multi-antenna attitude system. Even though the spoofing signal is meant to mimic individual satellites transmissions with individual ranges 526, 527 and 528, the geometric path length differences, 536, 537 and 538 between antenna A and B are the same. This is unlike the real signal path differences 521, 522, 523.

When evaluating each post-fit residual without assuming spoofing is taking place, we set the geometric phase difference term to

G _(AB) ^(Si)={right arrow over (u)} ^(Si)⋅{right arrow over (r)} _(AB) ^(est)

Where {right arrow over (u)}^(Si) is the vector to the assumed satellite broadcasting the signal Si, not the spoofing transmitter 141.

The residual equations are given in Eq. 1 and repeated here

res _(i)=Δ_(AB) ^(Si)−N _(i)λ−cT−{tilde over (G)} _(AB) ^(Si)

All residual equations have a unique {tilde over (G)}_(AB) ^(Si) per equation, but under spoofing they would need to all use the spoofing signal path difference G_(AB) ^(C) to correctly model the spoofing delays. Since the spoofing signal is not correctly modeled using the assumed {tilde over (G)}_(AB) ^(Si) terms, the residuals will become large as a result.

If post-fit residuals obtained from an attitude system with baseline vector {right arrow over (r)}_(AB), become larger than anticipated based on expected measurement noise levels, spoofing may be present on one or more signal classes. A measure of residual size such as Eq. 2 can be compared to an expected threshold, that when exceeded, triggers other actions to deal with the spoofing attack.

In the present embodiment, a baseline vector {right arrow over (r)}_(AB) may be obtained by solving a system of attitude of error equations using methods known in the art, it may already be known from past measurements, it may be known because antennas are simply stationary at a pre-determined orientation, or it may have been measured by other means. Integer ambiguities and clock terms may also be solved for, or may be know from previous computations.

Continuing to refer to FIG. 19, in an alternative embodiment, the attitude determining system first assumes that spoofing is taking place, and then make the necessary adjustments to the residual equation to correctly model the spoofing signal path delay between multiple antennas. In order to achieve small residuals under an assumed spoofing scenario, the system no longer assumes that the signals are arriving from a diverse geometric distribution of GNSS satellites. Rather, the system assumes that the signals arrive from a common transmission source. In this case, a single common signal differential path delay is substituted into all residual equations, and the residual equation becomes

res_spooƒ _(i)=Δ_(AB) ^(Si)−N _(i)λ−cT−G _(AB) ^(C)  (Eq. 3)

For satellites, S1, S2, S3 . . . , we would thus have

res_spoof₁ = Δ_(AB)^(S1) − N₁λ − cT − G_(AB)^(C) res_spoof₂ = Δ_(AB)^(S2) − N₂λ − cT − G_(AB)^(C) res_spoof₃ = Δ_(AB)^(S3) − N₃λ − cT − G_(AB)^(C) ⋮

Letting the common geometry and clock be grouped together in a term D, such that

D=cT−G _(AB) ^(C)

We have

res_spoof₁ = Δ_(AB)^(S1) − N₁λ − D res_spoof₂ = Δ_(AB)^(S2) − N₂λ − D res_spoof₃ = Δ_(AB)^(S3) − N₃λ − D ⋮

Or in general (what we refer to as the “zero baseline” assumption)

res_spooƒ _(i)=Δ_(AB) ^(Si) N _(i)λ−D  (Eq. 4)

Eq. 4 is identical to what one would have in an attitude system when the baseline vector is assumed to be zero (both antennas A and B in the same location). This is because the geometric signal path difference G_(AB) ^(C) can be lumped in with the clock, as shown by D=cT−G_(AB) ^(C), resulting in no geometric terms in Eq. 4. In other words, Eq. 4 looks like Eq. 2 with the clock term, cT, replaced with D and the geometric term set to zero, which would be the case if the baseline length were zero. We refer to Eq. 4 as the zero-baseline assumption.

The solution of zero-baseline Eq. 4 amounts to carrier phases and then removing any common clock term (by, for example, double differencing, and also removing integer ambiguities to the point that the residuals are minimized).

When spoofing is suspected, we can make the zero-baseline assumption when computing residuals. A measure of post-fit residual error can be found as in Eq. 2, but using the zero-baseline residual of Eq. 4.

$\begin{matrix} {{M\_ spoof} = {\sum\limits_{i = 1}^{N}\left( {res\_ spoof}_{i} \right)^{2}}} & \left( {{Eq}.\mspace{14mu} 5} \right) \end{matrix}$

If integer ambiguities, N₁, N₂, N₃, . . . , and D can be found such that Eq. 5 produces a small measure M_spoof this is an indication of spoofing.

It should be appreciated that double differences may be used to eliminate the clock term D. For example,

(res_spooƒ _(i)−res_spooƒ _(k))=Δ_(AB) ^(Si)−Δ_(AB) ^(Sk)−(N _(i)−N _(k))λ

Or more compactly

res_spooƒ_dd _(ik)=Δ_(AB) ^(Si)−Δ_(AB) ^(Sk)−N _(ik)λ  (Eq. 6)

Where res_spooƒ_dd_(ik)=(res_spooƒ_(i)−res_spooƒ_(k))

and

N_(ik)=(N_(i)−N_(k))

And the spoofing measure of residual error would be in terms of the double difference residual

$\begin{matrix} {{{M\_ spoof}{\_ dd}} = {\sum\limits_{i = 1}^{N}\left( {{res\_ spoof}{\_ dd}_{ik}} \right)^{2}}} & \left( {{Eq}.\mspace{14mu} 7} \right) \end{matrix}$

Generally, the zero-baseline (or spoofing) measure of residual can be computed by the attitude system using Eq. 5, (or the double difference version, Eq. 7) whenever spoofing is suspected. To accomplish this task, first the Ni and D terms of Eq. 4 are computed to minimize residuals of the zero baseline assumption of Eq. 4 or Eq. 6. Various methods can be applied to perform this minimization which will be apparent to those skilled in the art. In one embodiment, double difference measurements are computed and integer ambiguities solved by rounding measurements to the nearest integer. Other measures that give an indication of residual error are possible. For example, instead of a square, an absolute value can be used in Eq. 5 or Eq. 7.

In an embodiment, the zero-baseline residual equations and corresponding measure of residual error are not computed for all GNSS signal carrier difference observations, but are only computed for those signals corresponding to a particular class of signal that is suspected of being spoofed. In an alternative embodiment in which it is not clear which signals might be spoofed, each class of signals is evaluated with a zero baseline assumption to determine which class of signals produces a small measure of residual error. Those determined to have a small measure of residual error under a zero baseline assumption are likely spoofed classes of signals.

In summary, once an attitude solution is obtained, the attitude determination system can then check for possible spoofing by monitoring and evaluating the residual error as determined in Equation 1 and Equation 2. If the attitude system determines that the residual error looks larger than expected, then spoofing on one or more of the GNSS classes of signals used in the attitude solution may be determined and handled by the attitude system. To confirm spoofing for each class of signals, the attitude determination system uses a zero-baseline assumption to compute a measure of residual error as determined in Equation 5 or Equation 7. If the zero-baseline measure of residual error for a particular class of signals is determined by the attitude system to be small, then spoofing would be expected on that class. That class of signal could then be removed from future attitude solution computations, so that only non-spoofed classes of signals are utilized by the attitude determination system. To determine if spoofing is taking place, the residual error may also be compared to a pre-determined threshold value. A threshold value may be chosen based on measured or assumed noise, and other sources of expected measurement error. The threshold value is chosen to be small enough so that comparison of the residual error with the threshold value minimizes the likelihood that spoofing “false alarms” are generated, but large enough that spoofing can still be detected. The threshold value may be chosen experimentally with actual test data.

A summary of the process of computing residuals in the zero-baseline assumption case is as follows:

-   -   1. Carrier phase differences are formed between measurements at         the two antennas;     -   2. Ambiguities are removed from the carrier phase differences,         leaving a new set of differences that is ambiguity-free.     -   3. A common bias term is then removed from the ambiguity-free         differences, leaving a new set of bias-and-ambiguity-free         differences.     -   4. These bias-and-ambiguity-free differences are squared and         summed to form a residual sum-squared error.     -   5. The resulting residual sum-squared error is tested to see if         it is below a pre-determined threshold.

In the non-zero baseline case, there may be the additional step of solving for, and removing, the Geometric terms before computing the residual error. The Geometric terms need to be determined if they are not known already. If the baseline orientation is known, or has been determined from past measurements, the solution is relatively easy.

It is simply a dot product of the baseline vector with the unit vector along the direction of the satellite line-of-sight, such as described above by the equation {tilde over (G)}_(AB) ^(Si)={right arrow over (u)}^(Si)⋅{right arrow over (r)}_(AB) ^(est).

However, if the baseline orientation is unknown, there are various methods known in the art to determine the baseline orientation. One approach would be to solve the combined baseline vector orientation, ambiguities and biases as part of least squares search process, such as the Lambda method for resolving unknown cycle ambiguities. Constraints on the solution, such as known baseline length, might make it difficult to find a set of ambiguities that was clearly the best choice. This could be an indication of spoofing itself, which could be cross checked with a zero-baseline assumption. If a solution for baseline vector succeeded, geometric terms could be computed as above, and the residual error formed. Assuming geometric terms can be determined, a solution may include the following steps

-   -   1. Carrier phase differences are formed between measurements at         the two antennas;     -   2. Using a known orientation, or computed orientation of the         baseline vector along with locations of the satellites, compute         the geometric terms.     -   3. Residuals are formed by removing ambiguities, bias terms, and         geometric terms from the carrier phase differences.     -   4. These residuals are squared and summed to form a residual         sum-squared error     -   5. The resulting residual sum-squared error is tested to see if         it is above a pre-determined threshold.

The approach above, if ambiguities, biases and vector orientation are solved simultaneously, may fail to produce a valid solution with high confidence. This may become apparent by not only large residual errors, but other indications, such as not being able to obtain a clear ambiguity choice when using a method such as the Lambda least-squared approach. The steps, when solving orientation as part of the solution, are as follows:

-   -   1. Single or double carrier phase differences are formed between         measurements at the two antennas;     -   2. A solution for ambiguities, baseline vector, and biases is         attempted using a least-squares approach     -   3. If the solution fails to produce a set of ambiguities that is         a clear obvious beast choice, in the sense that the sum-squared         residual error is smaller than any other sun-squared residual         error for a different set of ambiguities, then     -   4. Test classes of satellites with the zero-base line assumption         computing residuals and residual sum squared error as described         above     -   5. Compare the zero baseline assumption sum squared residual         error to a pre-determined threshold

It should be appreciated that in various embodiments, including the zero-baseline and non-zero-baseline cases discussed above, steps may be combined so that, for example, ambiguities, biases, and geometric terms may be solved for simultaneously by the GNSS attitude system.

It should be appreciated that in various embodiments, the geometric terms may be derived from attitude angles (yaw, pitch, and possibly roll if a multiple baseline system), and baseline length. The vector {right arrow over (r)}_(AB) is completely specified by two angles, the yaw and pitch of the vector along with its length. The Geometric term for satellite S is G_(AB) ^(S)={right arrow over (u)}^(S)⋅{right arrow over (r)}_(AB) The process of computing the Geometric terms may involve solving attitude angles and baseline length (which may already be known).

Although the embodiments discussed have been concerned primarily with carrier phase measurements, it should be appreciated that the methods outlined above can be applied when using code phase measurements rather than of carrier phase measurements. One advantage of employing code phase over carrier phase is that ambiguities are not present in the measurements. A disadvantage of employing code phase is that it is not nearly as precise as carrier phase, and code phase data will have much larger measurement errors, such as multipath-induced errors and tracking errors. To assure that these errors are not mistaken for spoofing when testing the measures of code phase residual error (either in the normal attitude solution, or in the zero baseline solution), a much larger baseline between antennas is needed. This is so that the geometric path differences between antenna A and B are sufficiently larger than the errors associated with using the less precise code phase measurements.

Although the embodiments discussed above have primarily focused on two antenna implementations, it should be appreciated that in alternative embodiments, more than two antennas may be employed for both the attitude and zero baseline solutions. If more than two antennas are employed, any baseline between any antenna pair may be evaluated for the zero-baseline assumption.

It should be appreciated that it is not necessary to compute an attitude solution if the orientation and separation of antennas is known in advance. Residual errors may still be computed using the known baseline vector. The residual errors may then be tested using a measure of their size. The zero-baseline assumption can be tested as well, even though the baseline is known not to be zero. Under spoofing conditions, the differences in phases measured between non-zero baseline antennas would appear as though coming from a zero-baseline antenna configuration.

Described herein are a number of systems and methods for determining the presence of false GNSS satellite signals. The system according to some embodiments of the invention uses at least two antennas to receive a plurality of GNSS satellite signals from a plurality of GNSS satellites. Measurements of GNSS satellite code or carrier phase φ of the GNSS satellite signals are made. The GNSS satellite code or carrier phase φ measurements are used in a number of computations to detect the presence of false GNSS satellite signals. Various embodiments of the method of detecting GNSS satellite systems include computations of the range to the GNSS satellites, the GNSS locations of the antennas, the attitude of baseline vectors between pairs of antennas, first measured and second estimated carrier phase differences for the GNSS satellite signals at pairs of antennas, residual error, and comparison with assumed zero baseline configurations. These measurements and computations are used to detect the presence of false GNSS satellite signals so that the vehicle or device that is using the system does not become mis-directed from the false GNSS satellite signals, or provide incorrect time data. It is to be understood that the systems, methods, computations, and elements described herein can be used in many different forms according to embodiments of the invention, and is not limited to the examples described in this document. Many variations will be apparent to those skilled in the art based upon the examples and descriptions in this document.

The embodiments and examples set forth herein were presented in order to best explain embodiments of the invention and its practical application and to thereby enable those of ordinary skill in the art to make and use embodiments of the invention. However, those of ordinary skill in the art will recognize that the foregoing description and examples have been presented for the purposes of illustration and example only. The description as set forth is not intended to be exhaustive or to limit embodiment of the invention to the precise form disclosed. Many modifications and variations are possible in light of the teachings above without departing from the spirit and scope of the forthcoming claims. 

1. A method of using a global navigation satellite system (GNSS) attitude determining system to detect false GNSS satellite signals, the method comprising: receiving GNSS satellite signals from a plurality of satellites at a first antenna of a GNSS attitude determining system; receiving GNSS satellite signals from the plurality of satellites at a second antenna of a GNSS attitude determining system; measuring in the GNSS attitude system first signal phase values for a plurality of the GNSS satellite signals received at the first antenna; measuring in the GNSS attitude system second signal phase values for a plurality of the GNSS satellite signals received at the second antenna; determining in the GNSS attitude system phase differences between corresponding first signal phase values and second signal phase values, wherein corresponding signal phase values are signal phase values received by the first and second antennas of the GNSS attitude system from the same satellite; determining, in the GNSS attitude system, geometric terms for the GNSS attitude system and its first and second antennas; processing in the GNSS attitude system, the determined phase differences and determined geometric terms to determine a residual error for the determined phase differences; comparing in the GNSS attitude system the residual error to a predetermined threshold value to determine if the measure of residual error is a large residual error above the predetermined threshold value; and, identifying received GNSS satellite signals as spoofed signal in the GNSS attitude system if the measure of residual error is a large residual error above the threshold value.
 2. The method of claim 1, wherein the step of processing in the GNSS attitude system the determined phase differences to determine a residual error for the determined phase differences comprises the steps of: processing the determined phase differences to remove integer ambiguities; processing the determined phase differences to remove a common bias term; squaring the bias and ambiguity-free phase differences; and summing the squared phase differences to provide a residual error.
 3. The method of claim 2, wherein the steps of processing the determined phase differences to remove integer ambiguities and processing the determined phase differences to remove a common bias term occur simultaneously in the GNSS attitude system.
 4. The method of claim 1, wherein the geometric terms are determined based on yaw, pitch, roll, and the baseline length between the first and second antennas. 